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  1. For the diff drive robot controllable from ROS you can follow this tutorial -> http://www.generationrobots.com/blog/en/2015/02/robotic-simulation-scenarios-with-gazebo-and-ros/ The important part is the usage of libgazebo_ros_diff_drive.so gazebo plugin.
  2. To add a Lidar you can see at http://gazebosim.org/tutorials?tut=ros_gzplugins#Laser . In this page they explain a lot about adding sensors to your robot.
  3. In the first tutorial you will have to change most of ros-hydro by ros-kinetic but the don't worry create a robot and control it has not change since this version.