How to create a moving robot

Question

Hi, I want to create a moving robot but i don't know how i can do it. I tryed to di that learning driffdrive_plugin.cpp, but i don't understand how it is work. There isn't main() function in this file, ROS doesn't need main() function? what ROS needs to controll joints by keyboard?

thanks in advance.

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Originally posted by Maurizio88 on ROS Answers with karma: 155 on 2011-11-10

Post score: 1

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Original comments

Comment by Bemfica on 2011-11-11:
you should start with the tutorials, it will be easier than understand the whole system by yourself.

Answer 1

The erratic_description package is a good and complete example for a moving mobile base using the DiffDrivePlugin as a gazebo controller. Especially in urdf/erratic_base.xacro you can see how to use the plugin in your urdf model.

To see a running example run:

roslaunch erratic_description erratic_empty_world.launch

This starts gazebo and spawns the erratic model. Then run

rosrun erratic_teleop erratic_keyboard_teleop 

You can now move the robot using the keys WASD.

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Originally posted by Sabrina with karma: 285 on 2011-11-10

This answer was ACCEPTED on the original site

Post score: 2

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Original comments

Comment by Maurizio88 on 2011-11-30:
you can also use shift + WASD for speed up!