Summary
In this chapter, we were trying to simulate two robots: one was a robotic arm with seven DOF, and the other was a differential wheeled mobile robot. We started with the robotic arm and discussed the additional Gazebo tags needed to launch the robot in Gazebo. We discussed how to add a 3D vision sensor to the simulation. Later, we created a launch file to start Gazebo with a robotic arm and discussed how to add controllers to each joint. We added the controllers and worked with each joint.
Like the robotic arm, we created the URDF for the Gazebo simulation and added the necessary Gazebo-ROS plugin for the laser scanner and differential drive mechanism. After completing the simulation model, we launched the simulation using a custom launch file. Finally, we looked at how to move the robot using the teleop node.
We can learn more about the robotic arm and mobile robots supported by ROS at http://wiki.ros.org/Robots.
In the next chapter, we will see how to simulate...