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Only released in EOL distros:   groovy hydro

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