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about a diff drive mobile robot in gazebo

asked 2017-08-30 11:45:49 -0500

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Hi Dear Gazebo Developers and Users:

I am trying to find a gazebo model of a differential drive robot (or a tutorial to create so) that has the following functions:

  1. controllable from ROS cmd_vel topic.
  2. equipped with 2d lidar.
  3. works for indigo, jade, and kinetics

It is basically a diff-drive robot version of http://wiki.ros.org/hector_quadrotor

I found some open source code for pioneer2dx gazebo simulator, but none of them satisfy all the above. The gazebo tutorial only shows how to create a static one.

Thanks a lot for any help.

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answered 2017-08-31 03:08:34 -0500

GuillaumeB gravatar image

Hi,

  1. For the diff drive robot controllable from ROS you can follow this tutorial -> http://www.generationrobots.com/blog/... 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=ro... . 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.
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Asked: 2017-08-30 11:45:49 -0500

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Last updated: Aug 31 '17