ROS2- Modeling, Simulation, and Control of 4-Wheeled Mobile Robot in ROS2 (Iron Irwini) and Gazebo

#ros #ros2 #robotics #mechatronics #robotics #gazebo #industrialrobotics
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In this ROS2 tutorial, we explain how to model and simulate a four-wheel mobile robot in ROS2 and Gazebo from scratch. We explain how to write the xacro, gazebo, and Python launch files that model and simulate the model. Also, we explain how to control the robot by using the keyboard keys.

In our previous tutorial, we explained how to do the same modeling task in ROS1. However, it is far from trivial to generalize the ROS1 implementation to the ROS2 implementation. Namely, to model the robot in ROS2, we had to write a completely new launch file, and significantly modify the Xacro model files, such that the model could be properly displayed and simulated in Gazebo. Furthermore, the process of building the workspace and packages in ROS2 is completely different from ROS1.

[aleksandarhaber]

It takes a significant amount of time and energy to create these free video tutorials. You can support my efforts in this way:
- You Can also press the Thanks YouTube Dollar button

[aleksandarhaber]

I am using Iron Irwini ROS2 in this tutorial. This is the current and recommended ROS2 version. On my channel, there is a video tutorial on how to install ROS2 Iron Irwini. Also, you need Ubuntu 22.04. Everything is explained in the tutorial, you just need to carefully watch the tutorial.

[aleksandarhaber]

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