Simulating a differential wheeled robot in Gazebo
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 find the diff_wheeled_robot.xacro mobile robot description in 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 an ROS package to launch a Gazebo simulation using the same dependencies of the seven_dof_arm_gazebo package. If you have already cloned the code repository, you already have this package, otherwise, clone the entire code from the Git repository, or get the package from the book's source code:
git clone https://github.com/PacktPublishing/Mastering-ROS-for-Robotics-Programming-Third-edition.git cd Chapter4/seven_dof_arm_gazebo
Navigate to the diff_wheeled_robot_gazebo/launch directory and take the diff_wheeled_gazebo...