Gazebo Differential Drive

Table of Contents

• Overview
• Getting Started
• Usage and Configuration Instructions

Overview

In this package I created Xacro files of a differential-drive robot, simulate it in Gazebo and control it using ROS.

1. The robot moves through a world filled with Jersey Barriers and trash.
2. The robot is be able to follow a rectangular path.
3. The robot is be able to flip over and continue driving.

Getting Started

Create a workspace, clone the repo, and build the workspace:

mkdir -p ws/src && cd ws/src
git clone https://github.com/YaelBenShalom/Gazebo-Differential-Drive.git
cd ../..
catkin_make
source devel/setup.bash 

Usage and Configuration instructions

1. To launch the differential-drive robot in the ddrive world using Gazebo simulation, run roslaunch diff_drive ddrive.launch. The robot starts from position (x,y) = (-3,-3) in rest mode.

   1. To make the robot follow a rectangular path, add follow_rect:=True to the roslaunch command.

   

   2. To make the robot flip over and continue driving, add flip_over:=True to the roslaunch command.

   

2. To launch the differential-drive robot using RViz simulation, run roslaunch diff_drive ddrive_rviz.launch. The robot starts from position (x,y) = (-3,-3) in rest mode.