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How to create a moving robot.

asked 2011-11-10 19:54:07 -0600

Maurizio88 gravatar image

updated 2012-02-27 13:30:28 -0600

kwc gravatar image

Hi, I want to create a moving robot but i don't know how i can do it. I tryed to di that learning driffdrive_plugin.cpp, but i don't understand how it is work. There isn't main() function in this file, ROS doesn't need main() function? what ROS needs to controll joints by keyboard?

thanks in advance.

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you should start with the tutorials, it will be easier than understand the whole system by yourself.
Bemfica gravatar imageBemfica ( 2011-11-11 01:47:06 -0600 )edit

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answered 2011-11-10 22:49:13 -0600

The erratic_description package is a good and complete example for a moving mobile base using the DiffDrivePlugin as a gazebo controller. Especially in urdf/erratic_base.xacro you can see how to use the plugin in your urdf model.

To see a running example run:

roslaunch erratic_description erratic_empty_world.launch

This starts gazebo and spawns the erratic model. Then run

rosrun erratic_teleop erratic_keyboard_teleop

You can now move the robot using the keys WASD.

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you can also use shift + WASD for speed up!
Maurizio88 gravatar imageMaurizio88 ( 2011-11-30 20:05:58 -0600 )edit

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Asked: 2011-11-10 19:54:07 -0600

Seen: 432 times

Last updated: Nov 10 '11