See http://www.generationrobots.com/blog/en/2015/02/robotic-simulation-scenarios-with-gazebo-and-ros/
Sources to operate a simple 2 wheels + caster wheel.
In order to simulate, simply run the following commands in two shells:
- roslaunch bobby_gazebo bobby_world.launch
- rosrun turtlesim turtle_teleop_key /turtle1/cmd_vel:=/cmd_vel
- OR -
- rosrun teleop_twist_keyboard teleop_twist_keyboard.py
In order to vizualize with RViz:
- Launch the world as described before
- rosrun rviz rviz
- In the GUI, change the Global Options->Fixed Frame to odom
- Add the components RobotModel and TF
- Add the component /bobby/camera1/image_raw/Image by topic
In order to preview the image:
- Launch the world as described before
- rosrun image_view image_view image:=/bobby/camera1/image_raw
## NOTES:
- Please refer to the ROS documentation to create a catkin workspace necessary to this project.
- You might need to reset the world and pose in the Gazebo GUI prior to starting the stimulation.
- Install following ROS packages :
- sudo apt-get install ros-kinetic-gmapping
- sudo apt-get install ros-kinetic-ros-controllers