<> <> == 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 == <> {{{ #!clearsilver CS/NodeAPI node.0 { name=corobot_gazebo_control desc=This node will provide all the interface to use the simulated Corobot like a real one. pub{ 0.name= corobot_left_rear_wheel_controller/command 0.type= std_msgs/Float64 0.desc= command the left rear wheel of the simulated robot 1.name= corobot_right_rear_wheel_controller/command 1.type= std_msgs/Float64 1.desc= command the right rear wheel of the simulated robot 2.name= corobot_left_front_wheel_controller/command 2.type= std_msgs/Float64 2.desc= command the left front wheel of the simulated robot 3.name= corobot_right_front_wheel_controller/command 3.type= std_msgs/Float64 3.desc= command the right front wheel of the simulated robot 4.name= odometry 4.type= nav_msgs/Odometry 4.desc= the odometry message } sub{ 0.name= PhidgetMotor 0.type= corobot_msgs/MotorCommand 0.desc= Speed command for the simulated Corobot 1.name= /gazebo/model_states 1.type= corobot_gazebo/ModelStates 1.desc= The state of the robot returned by Gazebo 2.name= lwheel_vtarget 2.type= std_msgs/Float32 2.desc= Left wheel velocity. To be used by PID when controlling the velocity with twist 3.name= rwheel_vtarget 3.type= std_msgs/Float32 3.desc= Right wheel velocity. To be used by PID when controlling the velocity with twist } } }}} ## AUTOGENERATED DON'T DELETE ## CategoryPackage