path planning with a two-wheeled robot
Hi everyone, I am currently using ROS Indigo on Ubuntu 14.04.2.
My aim is to simulate a 2-wheeled robot in an potentially slippery environment, depending on where the robot actually is.
To do so, I have made a 2D model working in Matlab, I followed every ROS tutorials on the ROS Wiki.
1)I tried to make a really simple .urdf file (a 4-wheeled box found on github), but it won't be parsed in xml, because ROS can't find the urdfdom package. I checked and indeed I can't find it in the ROS repository...What should I do?
2) There is a closed-loop control in Matlab, and a Kalman filter to use the signal of a gyroscope efficiently and know how to react when there is slip. Should I create a node for each Matlab script? How should I synchronize the Twist messages (which is not a problem in Matlab)?
I know it is a big question,but it would really be enlighting to me. I struggled with Jade and went back to Indigo, since it is more documented.
Thanks for taking time to read this long post.
