hello_robot

My project was fortunate to be selected for recognition during my coursework with Lentin Joesph. You can check out his great course and books here: https://robocademy.com/

image info

Description

This repository hosts the source code for the ROS < hello_robot > package which builds the model for my first robot.

Below is the picture of the base that I will be building the URDF for. The goals of this repository are:

roughly model the base and attach ROS controllers to the wheel so it can be driven in gazebo
add a laser sensor to the simulation

Key concepts covered

creating a URDF from scratch
using Xacro to clean up the URDF and parameterize the creation of the robot
importing URDF into Gazebo
moving the robot in Gazebo
adding a laser sensor to the model
visualizing the laser scanner in RViz
configuring Gazebo controls
configuring Navigation and SLAM packages
tuning parameters
building physical robot

Usage

View hello_robot in RVIZ

roslaunch hello_robot_description hello_robot_rviz.launch
View & drive hello_robot in Gazebo
roslaunch hello_robot_gazebo hello_robot_world.launch
SLAM GMapping with hello_robot
in one terminal roslaunch hello_robot_gazebo hello_robot_world.launch
in 2nd terminat roslaunch hello_robot_slam hello_robot_slam.launch
save map using `rosrun map_server map_saver -f nameOfMap
Navigation with hello_robot
in one terminal roslaunch hello_robot_gazebo hello_robot_world.launch
in 2nd terminal roslaunch hello_robot_navigation hello_robot_navigation.launch