Simulation model of ERP42 working with ROS in Gazebo simulator This simulation has done in Gazebo version 9.0.0 in ROS Melodic Ubuntu 18.04.4 LTS To run the demo, run the following command: roslaunch erp42 erp42.launch
Before running, installing the following packages
- Gazebo and gazebo_ros_pkgs sudo apt-get install ros-melodic-gazebo-ros-pkgs ros-melodic-gazebo-ros-control
More information about Gazebo, please refer to http://gazebosim.org/tutorials?tut=ros_installing&cat=connect_ros
erp42 is the description of the robot, the xacro files are inside erp42.launch is for run the simulation model controllers.yaml file into config folder it show the controllers joint_state_controller 4 wheel controllers (effort controllers) (N*m) 1 controller in each front wheel due to in urdf is not possible to create a kinematic chain loop, right and left steer wheel controller (position controller) minimun= -0.4 (radian) maximun= 0.4 (radian)
erp42_control have two important scripts main.py it permit to put input of torque in each wheel (torque controller) steer.py it permit to change the steer of the vehicle (position controller)
erp42_sdf_files it have a ramp of 5 degree
gazebo_ros_pkgs it permit access to the controllers of gazebo and ROS