We have seen the simulation of the robotic arm. In this section, we can set up the simulation for the differential wheeled robot that we designed in the previous chapter.
You will get the diff_wheeled_robot.xacro
mobile robot description from the mastering_ros_robot_description_pkg/urdf
folder.
Let's create a launch file to spawn the simulation model in Gazebo. As we did for the robotic arm, we can create a ROS
package to launch a Gazebo simulation using the same dependencies of the seven_dof_arm_gazebo
package, clone the entire package from the following Git repository, or get the package from the book's source code:
$ git clone https://github.com/jocacace/diff_wheeled_robot_gazebo.git
Navigate to the diff_wheeled_robot_gazebo/launch
directory and take the diff_wheeled_gazebo.launch
file. Here is the definition of this launch:
<launch> <!-- these are the arguments you can pass this launch file, for example paused:=true --> ...