Model:URDF file for GeBot for Simulation Test Drive and Steering Control to just front_wheel_joint
Simulation Engine : Gazebo Classic / xIgnition:Fortress
Launch and Test :
ros2 launch my_gebot sim.launch.py
Controller Load :
ros2 run controller_manager spawner tricycle_controller
ros2 run controller_manager spawner joint_state_broadcaster
Teleop :
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/tricycle_controller/cmd_vel
Slam :
ros2 launch my_gebot slam.launch.py
Velodyne : Need to install velodyne_simulator.git