two wheel differential drive robot simulation in gazebo

• two_wheel_robot_description specifies the entire robot structure as links and joints and can launch the model.
• two_wheel_robot_gazebo launches the model in the gazebo environment and contains different simulation worlds.

sudo apt-get install ros-kinetic-gazebo-ros-pkgs ros-kinetic-gazebo-ros-control

In new terminal

mkdir -p ~/catkin_ws/src

cd catkin_ws/src

git clone https://github.com/Marslanali/two-wheel-robot-gazebo.git

catkin_make

Load the Gazebo simulator using the following command:

roslaunch two_wheel_robot_gazebo two_wheel_robot.launch

In a new terminal use the following command to make the robot drive incessantly along a circle of user-defined diameter. (Here diameter = 4 m. So, radius = 2m. Thus linear and angular velocities are set accordingly)

rostopic pub /cmd_vel geometry_msgs/Twist "linear:
  x: 0.2
  y: 0.0
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 0.1"

The ~/catkin_ws/src/turtlebot3_teleop/nodes folder contains the turtlebot3_teleop_key node, which is the teleop node.

Start the teleop node:

roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

spwarn urdf of two wheel robot

roslaunch two_wheel_robot_gazebo two_wheel_robot_urdf_spwan.launch


rosrun gazebo_ros spawn_model -file `rospack find two_wheel_robot_description`/urdf/two_wheel_robot.urdf -urdf -x 1 -y 1 -z 1 -model two_wheel_robot

rosservice call gazebo/delete_model '{model_name: two_wheel_robot}'

roslaunch two_wheel_robot_gazebo rosbot_world.launch

See the LICENSE file for license rights and limitations (MIT).