If you want to see my robot in gazebo you need to download from my repository package(folder) "my_robot_gazebo" in folder "src" which is located in your workspace. Then you need to open console and enter comands in your workspace:
source devel/setup.bash
catkin_make
roslaunch my_robot_gazebo xacro.launch
Robot-platform with 4 wheels and base (big cylinder) each of wheels attached to 2 links. Together 2 links can rotate and so my robot can move around center of base. Also he can turn using small radius of turning.
- location: /MY-Robot/screens_robot/
View from one side
View from another side
Control of robot launches by launch "xacro.launch". So "xacro.launch" create node which opens file "movesctript.py" for control.
Video below shows movemaent of each joint:
- link to video: https://www.youtube.com/watch?v=6L06_kYmk1I
For moving wheel with camera and create 5 pictures you can launch "xacro.launch", which launches 2 node for launching 2 scripts with publisher and subscriber.
- Location 5 pictures from camera: /MY-Robot/screens_robot/
Video below shows that all work:
- link to video: https://youtu.be/D4T99M6cHCM
Unit test launches from folder tests/unit_test by command:
python unit.py
Integration test launch from your workspace:
catkin_make
source devel/setup.bash
roslaunch tests test.launch
- Badge:
