ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange

Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

1

How to add a controller to my own robot?

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

1361 ●35 ●43 ●61 https://www.linkedin.c...

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 :)

edit retag flag offensive close merge delete

1 Answer

Sort by » oldest newest most voted

3

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

Martin Günther

flag of Germany

11816 ●82 ●159 ●198 https://www.dfki.de/en...

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.

edit flag offensive delete link

Comments

Thanks~ this answer is really helpful: )

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

Question Tools

2 followers

Stats

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

Seen: 491 times

Last updated: Nov 15 '13

Related questions

ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.

Powered by Askbot version 0.10.2