Trajectory Tracking of URDF/ROS model in Gazebo

Question

Hello,

I have a made a URDF model of a robot and currently spawning it in Gazebo. I have used diff_drive_controller to spawn it. Now, I want to track the model in a particular trajectory. Are there any tutorial available on internet? Can anyone help me regarding this?

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Originally posted by Maulik_Bhatt on ROS Answers with karma: 18 on 2018-08-19

Post score: 0

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Original comments

Comment by gvdhoorn on 2018-08-20:
With "tracking", do you mean:

1. keep track of where the robot has been (and draw a line or something similar)
2. control where the robot should go, using a path with changing positions over time

Comment by Maulik_Bhatt on 2018-08-20:
Hello, With tracking I meant I should be able to control where the robot should go, using a path with changing positions over time.

Answer 1

I meant I should be able to control where the robot should go

the common approach for this would be to first setup the navigation stack. If/when that is working, and you really want to dictate a path (ie: not give a destination and have the robot figure it out by itself) search ROS Answers for Q&A's about how to send a sequence of goals to move_base.

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Originally posted by gvdhoorn with karma: 86574 on 2018-08-20

This answer was ACCEPTED on the original site

Post score: 0

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Original comments

Comment by Maulik_Bhatt on 2018-08-20:
Thank you for the help.