lmwr_robot's Introduction
Ejecutar catkin_make source devel/setup.bash Parado en cualquier directorio lmwr_ros_model ejecutar: roslaunch lmwr_ros_model display.launch model:='$(find lmwr_ros_model)/urdf/lmwr.urdf' (Levanta el modelo en RVIZ con todos los links y Joints) roslaunch lmwr_ros_model gazebo.launch model:='$(find lmwr_ros_model)/urdf/lmwr-gazebo.urdf.xacro' (Levanta el modelo en Gazebo) roslaunch lmwr_ros_model joints.launch model:='$(find lmwr_ros_model)/urdf/lmwr-gazebo.urdf.xacro' (Levanta el modelo en RVIZ y en Gazebo) roslaunch lmwr_ros_model diffdrive.launch model:='$(find lmwr_ros_model)/urdf/lmwr-diffdrive.urdf.xacro' (Levanta el modelo en RVIZ y Gazebo y el control diferencial) roslaunch lmwr_ros_model diffdrive.launch model:='$(find lmwr_ros_model)/urdf/lmwr-diff-cam.urdf.xacro' (Levanta el modelo con Ultrasonido y camara en RVIZ y Gazebo y el control diferencial) Para hacer mover el robot hacia adelante a 0.5 m/s por linea de comando: rostopic pub /lmwr_diff_ive_controller/cmd_vel geometry_msgs/Twist -r 3 -- '[0.5,0.0,0.0]' '[0.0, 0.0, 0.0]' Hacia atras: rostopic pub /lmwr_diff_drive_controller/cmd_vel geometry_msgs/Twist -r 3 -- '[-0.5,0.0,0.0]' '[0.0, 0.0, 0.0]' Rotación a 0.3 rad/s rostopic pub /lmwr_diff_drive_controller/cmd_vel geometry_msgs/Twist -r 3 -- '[0.0,0.0,0.0]' '[0.0, 0.0, 0.3]' roslaunch lmwr_ros_model walker.launch model:='$(find lmwr_ros_model)/urdf/lmwr-diff-cam.urdf.xacro' (Levanta el modelo con Ultrasonido y camara en RVIZ y Gazebo y el nodo walker) roslaunch lmwr_ros_model walker.launch model:='$(find lmwr_ros_model)/urdf/lmwr-diff-cam.urdf.xacro' world:='$(find lmwr_ros_model)/worlds/lmwr.world' (Levanta el modelo con Ultrasonido y camara en RVIZ y Gazebo y el nodo walker) roslaunch lmwr_ros_model walker.launch model:='$(find lmwr_ros_model)/urdf/lmwr-diff-cam.urdf.xacro' world:='worlds/willowgarage.world' (Levanta el modelo con Ultrasonido y camara en RVIZ y Gazebo y el nodo walker. En Gazebo levanta el Willowgarage World) roslaunch lmwr_ros_model walker.launch model:='$(find lmwr_ros_model)/urdf/lmwr-diff-cam.urdf.xacro' world:='$(find lmwr_ros_model)/worlds/lmwr.world' roslaunch lmwr_ros_model walker.launch model:='$(find lmwr_ros_model)/urdf/lmwr-diff-cam-v3.urdf.xacro' world:='$(find lmwr_ros_model)/worlds/garden_2_lmwr.world' roslaunch lmwr_ros_model walker.launch model:='$(find lmwr_ros_model)/urdf/lmwr-diff-cam-v3.urdf.xacro' world:='$(find lmwr_ros_model)/worlds/garden_3_lmwr.world' Para lanzar el Wall Following roslaunch lmwr_ros_model wall_following.launch model:='$(find lmwr_ros_model)/urdf/lmwr-diff-cam-wall-follow.urdf.xacro' world:='worlds/willowgarage.world' roslaunch lmwr_ros_model wall_following.launch model:='$(find lmwr_ros_model)/urdf/lmwr-diff-cam-wall-follow.urdf.xacro' world:='worlds/maze.world' roslaunch lmwr_ros_model wall_following.launch model:='$(find lmwr_ros_model)/urdf/lmwr-diff-cam-wall-follow.urdf.xacro' world:='$(find lmwr_ros_model)/worlds/maze.world' roslaunch lmwr_ros_model walker.launch model:='$(find lmwr_ros_model)/urdf/lmwr-diff-cam-wall-follow.urdf.xacro' world:='$(find lmwr_ros_model)/worlds/garden_3_lmwr.world' roslaunch lmwr_ros_model walker.launch model:='$(find lmwr_ros_model)/urdf/lmwr-diff-cam-wall-follow.urdf.xacro' world:='$(find lmwr_ros_model)/worlds/garden_3_lmwr.world'
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