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Mastering ROS for Robotics Programming - Second Edition by Jonathan Cacace, Lentin Joseph

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Simulating a differential wheeled robot in V-REP

After simulating a robotic arm, we will now discuss how to set up a simulation scene to control a mobile robot. In this case, we will use one of the simulation models already implemented in V-REP. To import a model from the V-REP database, select the desired model class and object from the Model Browser panel and drag it into the scene.

For our simulation, we will simulate the Pioneer 3dx, one of the most popular differential wheeled mobile robots used as a research platform:

Figure 14: Pioneer 3dx in V-REP simulation scene

By default, the Pioneer robot is equipped with 16 sonar sensors, both ...

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