Only released in EOL distros:  

Description

This package is intended to be executed with Gazebo when trying to simulate the Corobot. This node will provide all the interface to use the simulated Corobot like a real one.

See corobot_urdf for launching the simulation

ROS API

corobot_gazebo_control

This node will provide all the interface to use the simulated Corobot like a real one.

Subscribed Topics

PhidgetMotor (corobot_msgs/MotorCommand)
  • Speed command for the simulated Corobot
/gazebo/model_states (corobot_gazebo/ModelStates)
  • The state of the robot returned by Gazebo
lwheel_vtarget (std_msgs/Float32)
  • Left wheel velocity. To be used by PID when controlling the velocity with twist
rwheel_vtarget (std_msgs/Float32)
  • Right wheel velocity. To be used by PID when controlling the velocity with twist

Published Topics

corobot_left_rear_wheel_controller/command (std_msgs/Float64)
  • command the left rear wheel of the simulated robot
corobot_right_rear_wheel_controller/command (std_msgs/Float64)
  • command the right rear wheel of the simulated robot
corobot_left_front_wheel_controller/command (std_msgs/Float64)
  • command the left front wheel of the simulated robot
corobot_right_front_wheel_controller/command (std_msgs/Float64)
  • command the right front wheel of the simulated robot
odometry (nav_msgs/Odometry)
  • the odometry message

Wiki: corobot_gazebo (last edited 2013-10-01 01:26:04 by MorganCormier)