support flipper control and velocity control through ros topic,and intergrated velodyne_lidar_simulator
in gazebo use arrow keys to control robot
catkin_make -j$(nproc)
source ./devel/setup.zsh
roslaunch robot_control simple_track.launch
#control flipper:
rostopic pub /back_joint/command std_msgs/Float64 "data: 90"
rostopic pub /front_joint/command std_msgs/Float64 "data: 90"
#control v and w:
rostopic pub /cmd_vel geometry_msgs/Twist "linear:
x: 1.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.5"
Use ‘y’ and ‘h’ to change the flipper angle. noted: need to focus on the launch file terminal!