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Package to Interact with the turtlebot Simulator in Gazebo.''

asked 2014-10-09 13:04:25 -0600

leobber gravatar image

How to create a package to Interact with the turtlebot Simulator in Gazebo using software outside,

What features I can use to interact with the simulation and turtlebot gazebo, have pretension to create a program to send and receive information from the simulation. So I would have a light on which way to publish and receive by an external software.

I can help xDDD

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Do you have the source code of the external software?

Mehdi. gravatar image Mehdi.  ( 2014-10-09 20:35:02 -0600 )edit

The external code, still do, but would like to know which methods I can use to communicate with the ROS / turtlebot / Gazebo, an example would be to have a method to create publisher and subscriber out through that code, I wonder as if I do this and how it would be!


leobber gravatar image leobber  ( 2014-10-10 07:34:43 -0600 )edit

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answered 2014-10-10 08:54:48 -0600

Mehdi. gravatar image

All you need is to follow this tutorial which explains in a very simple way how to write a c++ code to publish/subscribe to ros topics code and compile it with gcc linking to the roscpp library.

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Thank Mehdi, follow no doubt your help, but do not want to just make a publisher / subscribe to communicate with Turtlebot / gazebo, desire to make a program that from it we can send commands to the turtlebot the gazebo.

leobber gravatar image leobber  ( 2014-10-12 13:37:59 -0600 )edit

an example of what I want to do clear that the simplest way would be what matlab does with this tool:

leobber gravatar image leobber  ( 2014-10-12 13:38:24 -0600 )edit

I create a program so that we can interact with it to the gazebo and turtlebot first and then with the real robot, know I have to publish through the publisher and subscribe more I wonder if it would be possible to incorporate my software to make direct it exactly like that Matlab package.

leobber gravatar image leobber  ( 2014-10-12 13:38:58 -0600 )edit

and which path I should follow to incorporate this direct communication of my software and receiving.I thank you very much your help! and the time it is devoting myself to answer my debts!

leobber gravatar image leobber  ( 2014-10-12 13:39:11 -0600 )edit

Well all interaction in ROS is based on publish/subscribe so I am pretty sure you can do whatever you want with that !! Controlling Turtlebot means publishing a command velocity message to the robot's topic responsible for that. And you are not limited to roscpp as library.

Mehdi. gravatar image Mehdi.  ( 2014-10-12 20:01:56 -0600 )edit

Exactly, I will follow the tutorial that you pointed me to start understanding the part of how I do to create the functions that go to communicate and receive the ROS. I really appreciate your attention, if you are able to send me a contact to exchange an idea more specific about my work,

leobber gravatar image leobber  ( 2014-10-13 08:09:23 -0600 )edit

can be email, whatsapp.

Thank you so much.

leobber gravatar image leobber  ( 2014-10-13 08:09:41 -0600 )edit

answered 2014-10-13 08:41:26 -0600

leobber gravatar image

I would like to see what functions can I use to program for communication with ROS, because I see so few ready codes, ie need a tutorial to delve into programming for the ROS, as well acreditoque only be able to create this interface that interacts directly with the ROS and the simulation sending and receiving! Know I have to publish and so sobsecrever not know how iisso fare in real time or what functions can I use to this!

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Asked: 2014-10-09 13:04:25 -0600

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Last updated: Oct 13 '14