This package was originally inspired by Takashi Ogura package found here
First follow the instructions here to get the packages that will enable to you simulate the raspimouse in Gazebo.
First clone the project:
$ git clone https://github.com/surfertas/rustymouse.git
Then build the project:
$ cargo build
We first need to launch the simulation in Gazebo. (Make sure not to forget
source devel/setup.bash) Go to ~/raspiouse_gazebo/launch
$ roscore&
$ roslaunch raspimouse_with_samplemaze.launch
For the moment, ros.publish() doesnt accept the topic
raspimouse/diff_drive_controller/cmd_vel so we need to use a python script to
map between cmd_vel and the raspimouse/diff_drive_controller/cmd_vel topic.
Open a new window and go to rustymouse/script and run:
$ python topic_to_topic.py
Finally, run
$ cargo run --bin vel_publisher
You should be prompted to enter w,s,a,d. Use q to quit.