Difference between revisions of "Moving The P3DX In Gazebo"

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(Adjust the P3-DX model to take inputs from cmd_vel topic)
(Adjust the P3-DX model to take inputs from cmd_vel topic)
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== Adjust the P3-DX model to take inputs from cmd_vel topic ==
 
== 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 change:'''
+
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 change:'''
+
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 22:13, 30 January 2015

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>

TBC