Difference between revisions of "Moving The P3DX In Gazebo"
(→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: | |
| − | + | 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: | |
| − | <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 23:13, 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>
