checkpoint16

Kinematic model of ROSBot XL, an omnidirectional robot.

Simulation

source ~/ros2_ws/install/setup.bash
ros2 launch rosbot_xl_gazebo simulation.launch.py

Check if the robot can moves

ros2 run teleop_twist_keyboard teleop_twist_keyboard

Task 1

Test the holonomic movements

Task 1 - terminal 1

ros2 launch kinematic_model kinematic_model.launch.py

Task 1 - terminal 2

ros2 run wheel_velocities_publisher wheel_velocities_publisher

Task 2

Make the robot follows a 8 path

ros2 launch eight_trajectory eight_trajectory.launch.py

Knowledge