- Author: Songyan XIN xinsongyan@gmail.com
- License: GNU General Public License, version 3 (GPL-3.0)
Cubli Robot simulation environment with ROS and Gazebo.
Simple robot with 4 link: a cube as base link and three cylinder wheel connected to the cube with continuous rotational joint.
Gazebo:
roslaunch cubli_gazebo cubli_world.launch
ROS Control (position or torque control):
roslaunch cubli_control cubli_position_control.launch
(roslaunch cubli_control cubli_torque_control.launch)
Example of Moving Joints:
rostopic pub /cubli/joint_x_position_controller/command std_msgs/Float64 "data: 0.5"