ROS Programming: Building Powerful Robots

Simulating a differential wheeled robot in Gazebo

We have seen the simulation of the robotic arm. In this section, we can setup the simulation for the differential wheeled robot that we designed in the previous chapter.

You will get the diff_wheeled_robot.xacro mobile robot description at chapter_3_code/mastering_ros_robot_description_pkg/urdf.

Let's create a launch file to spawn the simulation model in Gazebo.

Navigate to chapter_3_code/diff_wheeled_robot_gazebo/launch and take the diff_wheeled_gazebo.launch file. Here is the definition of this launch:

<launch> <!-- these are the arguments you can pass this launch file, for example paused:=true --> <arg name="paused" default="false"/> <arg name="use_sim_time" default="true"/> <arg name="gui" ...