Hands-On ROS for Robotics Programming

Adding sensors to the GoPiGo3 model

Up to now, you should have equipped your virtual robot with a differential drive controller that provides the capability to convert velocity commands into rotations of the left and right wheels. We need to complete the model with some sort of perception of the environment. For this, we will add controllers for two common sensors, a two-dimensional camera and an LDS. The first corresponds to the Pi camera of your physical robot, while the second is the unidirectional distance sensor of the GoPiGo3 kit.