Using Gazebo with modified firmware

asked 2018-11-01 00:14:52 -0500

Catherine Upton gravatar image

I'm simulating Turtlebot3 burger with gazebo. In real world turtlebot3, I have used Arduino IDE to upload a modified firmware to OpenCR so that I could use some parameter I defined. Can I also change the firmware in Gazebo. I think gazebo use the default turtlebot3_core firmware as shown below. image description

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Gazebo doesn't simulate the turtlebot down to the firmware. It uses the kinematic and dynamic properties encoded in the model to simulate approximately correct behaviour, but it doesn't use any of the low-level infrastructure of the real tb.

gvdhoorn gravatar image gvdhoorn  ( 2018-11-01 02:08:17 -0500 )edit

What exactly have you modified in the firmware? If you need to change how the robot behaves in Gazebo then there are ways to do that, but as @gvdhoorn said it doesn't use the firmware to do this.

PeteBlackerThe3rd gravatar image PeteBlackerThe3rd  ( 2018-11-02 07:11:08 -0500 )edit

Thank you @gvdhoorn and @PeteBlackerThe3rd. @PeteBlackerThe3rd can you tell me the ways to change how the robot behaves?

Catherine Upton gravatar image Catherine Upton  ( 2019-01-09 02:52:15 -0500 )edit
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