Gazebo-Control

Repository for gazebo simulation and control of mobile robots

Gazebo simulation stack for Pioneer P3DX

Requirement

• Gazebo 9 / ROS Melodic

Dependency packages

• ros-melodic-rotors-*
• ros-kinetic-joint-state-controller
• ros-kinetic-ros-controllers
• ros-kinetic-ros-control
• ros-kinetic-velocity-controllers
• ros-kinetic-view-controller-msgs
• ros-kinetic-robot-state-publisher
• ros-kinetic-diff-drive-controller
• ros-kinetic-effort-controllers

Organisation

common:

• copernic_gazebo : contains launch files for gazebo simulation
• ground_truth_manager : node publishing odometry topic of all gazebo objects

control:

• control_position: msg definition for the control
• mobile_robot_controller: scripts for the control of a ground mobile robot

hardware:

• p3dx-sim: gazebo description files of robots and sensors