Gazebo Example

Requirements

• ROS Kinetic full desktop version installation
• Gazebo for ROS:
  • sudo apt-get install ros-kinetic-gazebo-ros-pkgs ros-kinetic-gazebo-ros-control

Getting Started

• Create a ROS workspace:
  • `mkdir ~/WORKSPACE_NAME
• Git clone this repository in it
• Build the workspace:
  • catkin_make (optional -j4 or -j8 to make it faster; the number corresponds to the number of cores on your processor)
• Finish setting your environment by typing (update your environment variables with the right paths):
  • source setup.bash
• Run the launch files examples by typing:
  • roslaunch gazebo_example LAUNCH_FILE_NAME

Example launch files:

• launch_example.launch

ROS node

controller_node

Subscribers

• ~pose (geometry_msgs::Pose) : pose of the robot
• ~twist (geometry_msgs::Twist) : twist of the robot

Publishers

• ~external_wrench (geometry_msgs::Wrench) :

Services

• ~start_controller (std_srvs::Trigger)

Renaming the template

You can easily rename the template package using the renaming script with the following command: * 'cd src/gazebo_example && ./rename_pkg.sh gazebo_example NEW_PKG_NAME'