Hands-On ROS for Robotics Programming

Simulating GoPiGo3 with Gazebo

Recall the Gazebo simulation we performed in Chapter 5, Simulating the Robot Behavior with Gazebo, in the Launching the GoPiGo model in Gazebo section. Its files have been included in the sample code for this chapter so that we can use them as a starting point. Now, follow these steps:

1. Launch the Gazebo environment with the GoPiGo3 model:

T1 $ roslaunch gazebo_control spawn.launch

Although you may find that the launch filename is different from what it was in the code of Chapter 5, Simulating the Robot Behavior with Gazebo, its content is exactly the same, that is, gopigo_gazebo.launch.

2. Then, in another Terminal, list the relevant topics:

T2 $ rostopic list   /clock   /gazebo/link_states /gazebo/model_states ...