Commit e98a71de authored by CANNERE Xavier's avatar CANNERE Xavier
Browse files

ajout t1 topic planear

parent 5816cdc3
......@@ -479,6 +479,18 @@ First make sure you have the same code::
</joint>
</model>
</sdf>
We'll add after the last ``</joint>`` these lines::
<plugin name="object_controller" filename="libgazebo_ros_planar_move.so">
<commandTopic>cmd_vel</commandTopic>
<odometryTopic>odom</odometryTopic>
<odometryFrame>odom</odometryFrame>
<odometryRate>20.0</odometryRate>
<robotBaseFrame>base_footprint</robotBaseFrame>
</plugin>
This is a plugin, we'll talk about that on the next topic, this plugin make the robot can move.
.. figure:: 3.png
:width: 150
......@@ -490,6 +502,16 @@ First make sure you have the same code::
Select your model and change parameters of the velocity and test it!
Reset your velocity, in a new terminal type::
ros2 topic list
You can see ``/cmd_vel``, we'll use this topic, type::
ros2 topic pub /cmd_vel geometry_msgs/msg/Twist "{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 1.8}}"
And look on gazebo what happens.
-----------------------------------
If you want go further you can read the documentation http://sdformat.org/spec?ver=1.9&elem=joint#model_joint
......
Following visual target
=======================
ROS2 : Following visual target
==============================
Step 1 : Create the package
---------------------------
Create a new package called ``pkg_visual``
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