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kobuki_desktop: kobuki_dashboard | kobuki_gazebo | kobuki_gazebo_plugins | kobuki_qtestsuite

Package Summary

Kobuki-specific ROS plugins for Gazebo The plugins in this package are not intended to be used alone, but through the launchers in kobuki_gazebo.

kobuki_desktop: kobuki_dashboard | kobuki_gazebo | kobuki_gazebo_plugins | kobuki_qtestsuite | kobuki_rviz_launchers

Package Summary

Kobuki-specific ROS plugins for Gazebo

New in hydro

Overview

This package currently holds the plugin for the Kobuki ROS Gazebo interface.

Kobuki ROS Gazebo plugin

This plugin handles the exchange of data between the Kobuki simulation in Gazebo and the ROS world. Important functionalities of the real Kobuki have been implemented:

  • Publishing
    • bumper events
    • cliff detection events
    • odometry data
    • IMU data
    • tf data for the base position
  • Retrieving
    • velocity commands
    • motor state commands

Configuration

The plugin is configured throught the parameters given in the URDF description. See the kobuki_description for details.

Usage

Have a look at the kobuki_gazebo package to find out how to use this plugin.

Wiki: kobuki_gazebo_plugins (last edited 2013-09-11 07:28:09 by MarcusLiebhardt)