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Simulation with a simple car model in Gazebo

asked 2011-07-04 00:20:53 -0600

mangoya gravatar image

Hi,

I'm currently planning to set up a gazebo simulation for an default gazebo simple car model .I haven't had any luck understanding how to go about making the robot move via external commands (keyboard presses, etc.).

The documentation seems to gloss over this, or at least I can't find where it's described. How would I go about making a robot move in the a Gazebo simulation?

Thanks

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answered 2011-07-04 06:23:02 -0600

gazkune gravatar image

If I am not wrong, you need to implement a gazebo plugin that basically converts the velocity commands of the keyboard teleop to gazebo joint torques or speeds. For that purpose, I would recommend to have a look at:

http://www.ros.org/wiki/gazebo_plugins

You will find some gazebo plugins available. I think that GazeboRosDiffdrive is specially interesting for you. It implements a gazebo plugin for a differential robot. You would have to do something similar but for a car-like steering model.

Finally, to add Gazebo extensions to urdf files (where I guess you have modeled your robot), have a look at:

http://www.ros.org/wiki/urdf/Tutorials/UnderstandingPR2URDFGazeboExtension

I hope this helps.

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Hi @gazkune, first of all, Thanks for your rapid answer. I've been finding in the gazebo_plugins and I've found gazebo_ros_diffdrive.cpp but I don't understand it. Then Where could i find more documentation or examples about it, because I'm novice Thanks.
mangoya gravatar imagemangoya ( 2011-07-06 23:03:11 -0600 )edit
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answered 2011-07-08 07:23:25 -0600

Aidan1488 gravatar image

Hey! I used this two tutorials of the pr2 and they helped me a lot. Check them out. Hope it helps you:

http://www.ros.org/wiki/pr2_controllers/Tutorials/Using%20the%20robot%20base%20controllers%20to%20drive%20the%20robot

http://www.ros.org/wiki/pr2_controllers/Tutorials/Using%20the%20base%20controller%20with%20odometry%20and%20transform%20information

Good luck. I'm also stuck with making a sad car just to move in gazebo so I understand your pain XD.

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thanks, you're vey kind
mangoya gravatar imagemangoya ( 2011-07-12 20:29:13 -0600 )edit
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answered 2011-07-07 06:36:04 -0600

hsu gravatar image

updated 2011-07-07 06:47:10 -0600

please see this post for a similar discussion.

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Asked: 2011-07-04 00:20:53 -0600

Seen: 3,533 times

Last updated: Jul 08 '11