This repository contains a ROS package cretus
that contains necessary files to visualise and model a robot in RViz. One can also tinker with ros_control
as dictated in further steps.
- Fire up the terminal in your rosject and type the following command to navigate to the required folder
cd catkin_ws/src
- Then clone this repository by giving the following command
git clone https://github.com/DhruvRibbonwala/cretus.git
- Then navigate back to the workspace directory by
cd ..
- Then build the package by giving the following commands
catkin_make
- Source the workspace to reflect these changes. Feel free to write this command every now and then
source ~/catkin_ws/devel/setup.bash
In order to launch RViz to visualize cretus
type the following code in the terminal
roslaunch cretus bringup.launch
To visualize the example cretus2
that we have already created before hand, type
roslaunch cretus bringup2.launch
To simulate cretus
in gazebo and move the robot, type
roslaunch cretus cretus_gazebo.launch