Difference between revisions of "Moving The P3DX In Gazebo"
(→Moving the P3-DX in Simulation) |
(→Adjust the P3-DX model to Take Inputs From cmd_vel Topic) |
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| Line 8: | Line 8: | ||
Install the p3dx model in catkin_ws | Install the p3dx model in catkin_ws | ||
| − | == Adjust the P3-DX model to | + | == Adjust the P3-DX model to take inputs from cmd_vel topic == |
Make the following changes in the package you got from Github: | Make the following changes in the package you got from Github: | ||
| − | In ua_ros_p3dx/p3dx_description/urdf/pioneer3dx.xml: | + | In ua_ros_p3dx/p3dx_description/urdf/pioneer3dx.xml change: |
| − | + | ||
<commandTopic>p3dx/cmd_vel</commandTopic> | <commandTopic>p3dx/cmd_vel</commandTopic> | ||
<odometryTopic>p3dx/odom</odometryTopic> | <odometryTopic>p3dx/odom</odometryTopic> | ||
| + | |||
to | to | ||
| + | |||
<commandTopic>cmd_vel</commandTopic> | <commandTopic>cmd_vel</commandTopic> | ||
<odometryTopic>odom</odometryTopic> | <odometryTopic>odom</odometryTopic> | ||
| − | In ua_ros_p3dx/p3dx_description/urdf/pioneer3dx.gazebo: | + | In ua_ros_p3dx/p3dx_description/urdf/pioneer3dx.gazebo change: |
| − | + | ||
<commandTopic>${ns}/cmd_vel</commandTopic> | <commandTopic>${ns}/cmd_vel</commandTopic> | ||
<odometryTopic>${ns}/odom</odometryTopic> | <odometryTopic>${ns}/odom</odometryTopic> | ||
| + | |||
to | to | ||
| + | |||
<commandTopic>cmd_vel</commandTopic> | <commandTopic>cmd_vel</commandTopic> | ||
<odometryTopic>odom</odometryTopic> | <odometryTopic>odom</odometryTopic> | ||
| − | |||
| − | |||
== TBC == | == TBC == | ||
Revision as of 23:10, 30 January 2015
Contents
Prerequisites: Ubuntu, Gazebo, and ROS
Our tutorials were made using Ubuntu 12.04 LTS. In order to move the P3-DX in Gazebo you will have to install Gazebo, you can do that here. In order to move the P3-DX in Gazebo, you must first install ROS. In our tutorial we used ROS Hydro. You can install ROS Hydro from here.
Obtaining the P3-DX model
Git clone P3-DX model from https://github.com/RafBerkvens/ua_ros_p3dx Install the p3dx model in catkin_ws
Adjust the P3-DX model to take inputs from cmd_vel topic
Make the following changes in the package you got from Github:
In ua_ros_p3dx/p3dx_description/urdf/pioneer3dx.xml change:
<commandTopic>p3dx/cmd_vel</commandTopic> <odometryTopic>p3dx/odom</odometryTopic>
to
<commandTopic>cmd_vel</commandTopic> <odometryTopic>odom</odometryTopic>
In ua_ros_p3dx/p3dx_description/urdf/pioneer3dx.gazebo change:
<commandTopic>${ns}/cmd_vel</commandTopic> <odometryTopic>${ns}/odom</odometryTopic>
to
<commandTopic>cmd_vel</commandTopic> <odometryTopic>odom</odometryTopic>
