A generic home world with multiple obstacles and differential-drive robot.
This is a generic appartment world loaded with obstacles. It includes a differential drive robot equipped with a Hokuyo lidar and a camera (800x800 pixels). Robot Model is created via xacro. This repo can be used as reference for creating simple robots via xacro. World also incudes a small white sphere that can be used to make the robot move by using the ball chaser repository.
- ROS Kinetic or up.
- Gazebo 7.16.0 or up.
- Source your environment.
- Run the world.launch file:
$ roslaunch my_robot world.launch- Open config.rviz in RVIZ to visualize lidar point cloud and camera image.
- Move the robot by publishing a /Twist message to topic /cmd_vel (linear x, and angular z):
$ rostopic pub /cmd_vel geotry_msgs/Twist "linear:
x: 0.3
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0"This will start gazebo with the world loaded, as well as RVIZ. If you publish a message, the robot will move.
- Luis M. - GitHub
Distributed under the MIT License. See LICENSE for more information.
This project was developed for the Robotics software Engineer Nanodegree Program course at Udacity.