about a diff drive mobile robot in gazebo

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:

controllable from ROS cmd_vel topic.
equipped with 2d lidar.
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.

Asked by ylin122 on 2017-08-30 11:45:49 UTC

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Answers

Hi,

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.
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.
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.

Asked by GuillaumeB on 2017-08-31 03:08:34 UTC