ROS package that relies on differential drive

Intended for learning ROS / ros_control

Package structure

├── CMakeLists.txt
├── config
│   ├── diff_drive_cfg.yaml
│   ├── DynRecPID.cfg
│   ├── rqt_gui_main.perspective
│   └── rvizCfg.rviz
├── docs
│   └── doxygen
│       └── DOXY_CFG
├── launch
│   ├── gazebo.launch
│   ├── m2xr_all.launch
│   ├── m2xr_control.launch
│   ├── m2xr_world.launch
│   ├── rqt_graphs.launch
│   ├── rviz.launch
│   └── spawn.launch
├── msg
│   └── RotDbgOut.msg
├── package.xml
├── README.md
├── scripts
│   ├── config.py
│   ├── debug.py
│   ├── fsm.py
│   ├── move_to_point.py
│   └── regulator.py
├── src
├── urdf
│   ├── gazebo_macros.gazebo
│   ├── m2xr.xacro
│   ├── macros.xacro
│   ├── materials.xacro
│   ├── wheel_gazebo.xacro
│   └── wheel_transmission.xacro
└── worlds
    └── m2xr.world

Launch commands

Launch gazebo world including robot model:

roslaunch ros_diff_drive m2xr_world.launch

Spawn controllers:

roslaunch ros_diff_drive m2xr_control.launch

or launch both together with rqt_gui:

roslaunch ros_diff_drive m2xr_all.launch

Run top-level controller that publishes to cmd_vel topic:

rosrun ros_diff_drive move_to_point.py 

Note: This step is implemented as separate one for easier debugging and running/stopping mentioned script

Refered to sources:

• [Exploring ROS using a 2 Wheeled Robot] #1: Basics of Robot Modeling using URDF

• ROS Control (Gazebo tutorials)

• pal-robotics's pmb2_robot Github repository

• [ROS Q&A] 053 - How to Move a Robot to a Certain Point Using Twist

... and other tutorials found on the internet

Other external resources

• Many thanks to PlotJuggler development team who developed this extremely useful and intuitive tool PlotJuggler ros plugin

Diff drive controller debug resources

     Failing to launch