Ros control tutorials

[paulbovbel]

Address #12

Primary change to early tutorials is to clean-up formatting, and rotate robot to be x-forward (it was previously y-forward).

Will implement the following updates to wiki:

• Minor updates to material tags and gazebo materials http://wiki.ros.org/urdf/Tutorials/Building%20a%20Visual%20Robot%20Model%20with%20URDF%20from%20Scratch -
• Minor updates for dynamic parameters/gazebo dynamic tags http://wiki.ros.org/urdf/Tutorials/Adding%20Physical%20and%20Collision%20Properties%20to%20a%20URDF%20Model
• Major update with xacro cleanup http://wiki.ros.org/urdf/Tutorials/Using%20Xacro%20to%20Clean%20Up%20a%20URDF%20File
• New section required: Integrating with Gazebo and ROS Control

[paulbovbel]

To see a demo, in a ROS workspace:

git clone git@github.com:clearpathrobotics/urdf_tutorial.git -b ros-control-tutorials rosdep install --from-paths . --ignore-src -y

roslaunch urdf_tutorial control.launch rosrun rqt_robot_steering rqt_robot_steering

set topic to /r2d2_diff_drive_controller/cmd_vel

[DLu]

Overall, looks good, and thanks for doing this.

However, its missing dependencies on controller_manager and gazebo_ros, as well as gazebo_worlds which seems to be deprecated. At the moment, this is what's stopping me from running the demo.

[paulbovbel]

@DLu, thanks for the attention, I've added a roslaunch check and resolved all dependency issues, lemme know if there's any other trouble.

[DLu]

This is the first part of the tutorial that really splits along distributions, since position_controllers/JointGroupPositionController doesn't exist prior to indigo. I've created new tags to reflect this.

However, since hydro won't get any new versions, I think we don't have change the PR.

[DLu]

I ran the tutorial and everything worked out great. Nice work. Turns out I made a not very stable r2d2 model; I kept knocking him over.

In addition to the two minor things above, one future request would be to add the textures, but that's not needed for this control work.

[paulbovbel]

Done. Intertial info should definitely be looked over at some point (open ticket?), but the model so far is fine for demo/tutorial purposes.

[DLu]

Merged. I started #15 to track the new wiki changes.

[DLu]

Thanks again for this valuable contribution.