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How to add a controller to my own robot?

asked 2013-11-12 01:53:07 -0500

Hi, I am building a simple robot from scratch because I want to learn the complete procedure of building a robot.

I already built a robot like this(in urdf file): image description

And I want to send the command(geometry_msgs/Twist) to move the robot, I don't know how to correctly send the command to the robot.

There are some resources, but I am not familiar with controllers, so I have difficulties reading these resources. Hope these provide some useful hints. http://gazebosim.org/wiki/Tutorials/1.9/ROS_Control_with_Gazebo

http://answers.ros.org/question/55082/error-adding-controller-script-in-simple-urdf-model-to-be-simulated-on-gazebo/

http://answers.ros.org/question/12050/simple-urdf-controller-example/

Is there simple answers that I can control the robot?

Thanks in advance, I know this might be a simple question for you guys :)

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answered 2013-11-15 00:03:40 -0500

One way to do this is to implement a custom Gazebo plugin. We've done that in the package diffdrive_gazebo_plugin. To use it, you'll have to add it to your URDF, like here. If you want to see it in action, you can use the kurt_empty_world.launch file to start it, and uos_diffdrive_teleop to send Twist commands.

Our plugin is for a six-wheeled robot, but modifying it for your four-wheeled robot shouldn't be too hard.

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Thanks~ this answer is really helpful: )

Po-Jen Lai gravatar image Po-Jen Lai  ( 2013-11-21 03:49:47 -0500 )edit

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Asked: 2013-11-12 01:53:07 -0500

Seen: 401 times

Last updated: Nov 15 '13