ros-mobile-robot

A tutorial on building simulated mobile robot in ROS

Workflow

For developing a mobile-robot(we are focusing on wheeled robot), the stepwise workflow we are following is as follows

Section 1

• Part 1 : Create basic packages
• Part 2 : Creating URDF
• Part 3 : Converting URDF for Gazebo
• Part 4 : Simulating in Gazebo
• Part 5 : Making the Robot generic

Section 2

• Part 1 : Adding a STL file for sensor
• Part 2 : Adding sensor plugin in Gazebo

Setup

• Ubuntu installed in laptop / PC (Normally the latest stable one, at the time of writing this article, Ubuntu 16.04)
• Appropriate ROS distro for the Ubuntu(also the latest stable one, at this time, ROS Kinetic Kame)
• Around 4-8 GB RAM for running the simulation.

Few screenshots