gazebo_ros_wheel

This is a sample program to control 2 wheeled car with ros_control.

Note

I preffer to use libgazebo_ros_imu_sensor.so Unmerged to gazebo_ros_pkg

Usage

Launch simulator

roslaunch rrcar_description empty.launch

Start controller

• With simulator

  roslaunch rrcar_control rrcar_control.launch

• With real robot

  roslaunch rrcar_control rrcar_control_robot.launch

Play to control

• With keyboard

  roslaunch rrcar_control teleop_key.launch

• With joystick

  roslaunch rrcar_control teleop_joy.launch

Hardware

• VESC - Open Source ESC
• Electric wheel motor (e.g. light small 4 inch electric wheel motor 24V 200W)

Software

• ROS
• ros_control
• mit-racecar/vesc
• Gazebo