betuuxxii / session3_mr-ros-gazebo-

Overview

Simulated differential drive platform for testing purposes.

Main steps to set-up a simulated robot

1. Description package: formal geometric description at .xacro file

2. Description package: add inertial tag at links

3. Description package: add limit and dynamics tags at non-fixed joints

4. Description package: For each non-fixed joint, add a corresponding transmission tag

5. Gazebo package: description extensions at .gazebo file for each link described at xacro file

6. Gazebo package: description extensions at .gazebo file for each non-fixed joint described at xacro file

7. Gazebo package: gazebo plugins, to endorse the robot with simulated sensors, hardware interfaces to actuated joints and ground truth.

8. Gazebo package: world model edition

9. Control package, to add control to the actuated joints