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You should start with the beginner ROS tutorials (http://wiki.ros.org/ROS/Tutorials) so that you understand the general ROS framework. Reading the catkin tutorials will give you a better understanding of the way workspaces and packages are structured.

To understand how to create a description (URDF) of your robot for integration with simulation (Gazebo), you can take a look at the URDF tutorials (http://wiki.ros.org/urdf/Tutorials), which then lead into the Gazebo + ROS URDF Tutorials (http://gazebosim.org/tutorials?tut=ros_urdf).

If you want to write controllers for your robot that will work for both live-operation and simulation, you should take a look at ros_control (http://wiki.ros.org/ros_control/Tutorials). This last part will definitely require some digging and a good understanding of ROS and Gazebo first. The Husky robot uses ros_control's diff_drive_controller (http://wiki.ros.org/diff_drive_controller) for mobile base control, so you can take a look at the way it's implemented here:

https://github.com/husky/husky

https://github.com/husky/husky_simulator

https://github.com/husky/husky_robot/blob/indigo-devel/husky_base/src/husky_base.cpp