Hands-On ROS for Robotics Programming

Building a differential drive robot with URDF

The GoPiGo3 kit is composed of four several subassemblies:

• The chassis, which is the main structure that all the parts are attached to. This includes the following:
  • Raspberry Pi and GoPiGo3 board
  • Motors
  • Battery package
  • Wheels
  • Caster
• Two wheels – left and right, each one driven by one motor.
• A caster, which is a small freewheel attached to the rear part of the chassis that keeps the robot supported on three points: the left and right wheels and the caster itself. Be aware that one freewheel is the minimum to keep the robot rolling on the floor:
  • If the caster were not present, the system would be underconstrained. Then, you would have a self-balancing robot that would have to be continuously ...