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Hi , I am new in ros2 and i am trying to do a two wheeled self-balancing robot by using ros2 and gazebo. However, i have some problem with self-balancing part of robot. Could someone give some direction ?
You will need a controller and a gazebo plugin. The controller can be either within the plugin or separate in a ros2 node, which is what you should prefer in case you ever want to build the robot in reality.
You can find examples on gazebo plugins in this repo: https://github.com/ros-simulation/gaz...
The input to your controller will probably be an IMU that can give you the pitch angle of the middle part of the robot. The controller will need to be cascaded.
Adding onto this post, I found it helpful to look through these links:
A ROS1 differential drive node created by Jon Stephan, there's a nice picture: differential_drive
The Nav2 system for ROS2, again, very nice picture: Nav2
ROS2 Foxy tutorials: Tutorials Index
I can't speak about Gazebo, but for your robot you will be looking to support a few bare-minimum messages:
Publish Odometry messages
Subscribe to Twist messages on the /cmd_vel topic: Twist message and Previous ROS Answers post
Most of the ROS 1 and 2 stuff expects to receive TF2 & Odometry messages describing the robot's position, and to send your robot Twist via /cmd_vel
Asked: 2021-05-01 09:32:16 -0600
Seen: 588 times
Last updated: May 11 '21
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