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How do I control the robot without using ROS?

diffdriveplugin

asked 2018-10-13 16:30:26 -0500

VansFannel
15 ●16 ●18 ●22

updated 2018-10-14 03:16:56 -0500

I have added the model Pioneer 2DX to an empty world. This model comes with the plugin DiffDrive.

<plugin filename="libDiffDrivePlugin.so" name="diff_drive">
  <left_joint>left_wheel_hinge</left_joint>
  <right_joint>right_wheel_hinge</right_joint>
  <torque>5</torque>
</plugin>

Running gz topic -l I get the topic:

/gazebo/default/pioneer2dxCamera/vel_cmd

How do I control the robot without using ROS?

I'm getting crazy figuring out how to publish to topic vel_cmd to control this robot.

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answered 2018-10-14 21:50:06 -0500

littleghost
38 ●3 ●4 ●9

You can use Gazebo Plugins， which can interact with Gazebo through Gazebo API. But the data communication way is very like ROS type.

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Thanks. If I want to control the robot with arrow keys? How can I do it? Thanks.

VansFannel ( 2018-10-15 02:13:27 -0500 )edit

If you use ROS, that will be quite easy. But if you don't want to use ROS, then you can check Gazebo API to see if there has keyboard related functions.

littleghost ( 2018-10-15 03:00:11 -0500 )edit

1

You write a plugin like `KeyboardGUIPlugin` which publishes velocity commands. Here's a demo world: https://bitbucket.org/osrf/gazebo/src/f4e51e8f64001beda70615ab8982a7d5a4e65b18/worlds/simple_arm_teleop.world?at=default&fileviewer=file-view-default

chapulina ( 2018-10-15 14:39:12 -0500 )edit

This world is appropriate. In fact, there are many places where gazebo is very similar to ROS.

littleghost ( 2018-10-16 02:12:15 -0500 )edit

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Asked: 2018-10-13 16:30:26 -0500

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Last updated: Oct 14 '18

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