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Robot Operating System Cookbook by Kumar Bipin

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Controlling the robot

The differential drive robot is also known as a skid-steer robot, whose motion is defined by separately driven wheels fixed on either side of the robot's body. There is no steering mechanism, which is its primary design, but we can change its direction by varying the relative rate of rotation of its wheels on either side.

Gazebo requires that we program the behaviors of the robot, joints, and sensors in the virtual world. It also provides a skid drive plugin called libgazebo_ros_skid_steer_drive.so to control the differential drive robot, which we designed in the previous section.

We will integrate this controller into the robot model by adding the following lines of code to robot_gazebo.xacro (refer to the complete ...

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