Hands-On ROS for Robotics Programming

ROS package structure for running a reinforcement learning task

The stack of code for this chapter is composed of the following packages:

• gopigo3_model is the ROS compilation that allows us to visualize GoPiGo3 in RViz using the launch file gopigo3_rviz.launch. The robot configuration is the familiar 3D solid model that we have used in the previous chapters. More precisely, it corresponds to the GoPiGo3 complete version, which includes the distance sensor, the Pi camera, and the laser distance sensor, that is, the model that was built in Chapter 8, Virtual SLAM and Navigation Using Gazebo.
• gopigo3_gazebo is built on top of the previous package, allowing us to simulate GoPiGo3 in Gazebo using the gopigo3_world.launch file. The URDF model ...