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How to control robot in simulation (Gazebo 7.1.0)

asked 2016-11-21 00:34:46 -0600

abhay2302 gravatar image

updated 2016-11-21 02:23:08 -0600

gvdhoorn gravatar image

Hello, i need to show one example in gazebo to include any model in gazebo till i know, but i cant proceed further how to control that robot and give input to it. can anyone help me out on that. i have Kinetic Ros installed. thanks

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Do any of the gazebo tutorials help?

ahendrix gravatar image ahendrix  ( 2016-11-21 00:50:46 -0600 )edit

I've updated the title a bit: no need for caps, and this seems to describe better what you are actually looking for.

gvdhoorn gravatar image gvdhoorn  ( 2016-11-21 02:23:53 -0600 )edit

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answered 2016-11-21 07:00:17 -0600

First of all, you need a model. I assume that you are familiar with URDF and XACRO. After developing model, you need to access joint states (which can be accessed by ROS-Control Package). Once, you have joint states, you can write your ROS Node in C++ or Python by first subscribing to that states and then generating ros torque. You can study this link and it will be very helpful to you. I am also currently in the process of doing it but so far have not succeeded. You can see my discussion on this link.

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thank you so much. i am new to ROS so please guide me once you are done

abhay2302 gravatar image abhay2302  ( 2016-11-21 23:08:15 -0600 )edit

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Asked: 2016-11-21 00:34:46 -0600

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Last updated: Nov 21 '16