ROS Programming: Building Powerful Robots

Inserting Gazebo controllers into URDF

After inserting the link and assigning joints, we need to insert Gazebo controllers for simulating differential drive and the depth camera plugin, which is done with software models of actual robots. Here is a snippet of the differential drive Gazebo plugin. You can find this code snippet in urdf/chefbot_base_gazebo.urdf.xacro.

 <gazebo> <plugin name="kobuki_controller" filename="libgazebo_ros_kobuki.so"> <publish_tf>1</publish_tf> <left_wheel_joint_name>wheel_left_joint </left_wheel_joint_name> <right_wheel_joint_name>wheel_right_joint </right_wheel_joint_name> <wheel_separation>.30</wheel_separation> <wheel_diameter>0.09</wheel_diameter> <torque>18.0</torque> ...