Simulate a virtual mobile robot in Gazebo and learn to control it using ROS. Begin by spawning the robot model, then create a launch file to streamline the process. Adjust the robot's appearance and implement a control plugin for movement. Practice controlling the robot with keyboard teleop and fine-tune its physics properties. Visualize the simulation in RViz and create an obstacle course to test the robot's capabilities. Troubleshoot common issues and gain practical experience in robot simulation and control.
Overview
Syllabus
- Intro
- Spawning our robot as-is
- Wrapping it up in a launch file
- Fixing the colours
- Control concept overview
- Adding the control plugin
- Keyboard teleop
- Fixing friction
- Visualising in RViz
- Making an obstacle course
- Troubleshooting
- Outro
Taught by
Articulated Robotics
