Source code is hosted on Github: [ Ссылка ]

The video shows DiffBot in Gazebo with a simulated RPLidar A2 running the gazebo_ros_control plugin with diff_drive_controller from ROS Control and the packages form the ROS Navigation Stack. The robot model has a rear caster wheel and the PID values of Gazebo are not tuned. The mesh files are from [ Ссылка ] and edited with [ Ссылка ] and [ Ссылка ]. All mesh files are stored in stl format in the DiffBot Github repository (see link below) in the diffbot_description/meshes.

DiffBot is an autonomous differential drive robot with two wheels. Its main processing unit is a Raspberry Pi 4 B running Ubuntu Mate 20.04 and the ROS 1 (ROS Noetic) middleware. Documentation can be found at: [ Ссылка ]

Source code including stl mesh files is hosted on Github: [ Ссылка ]

#ROS #navigation #DiffBot #Differential #Drive #RPLidar #Gazebo #RViz #ROS_Control #Noetic

свернуть