/gazebo_ros_wheel

Sample program to control 2 wheeled car with ros_control

Primary LanguageCMake

gazebo_ros_wheel

This is a sample program to control 2 wheeled car with ros_control. Image of the gazebo model and rviz

Note

I preffer to use libgazebo_ros_imu_sensor.so Unmerged to gazebo_ros_pkg

Usage

Launch simulator

roslaunch rrcar_description empty.launch

Start controller

  • With simulator

    roslaunch rrcar_control rrcar_control.launch

  • With real robot

    roslaunch rrcar_control rrcar_control_robot.launch

Play to control

  • With keyboard

    roslaunch rrcar_control teleop_key.launch

  • With joystick

    roslaunch rrcar_control teleop_joy.launch

Hardware

Software