Ros exploration Summary (7) -- smartcar source code upload

I am very honored to see that my previous blog has helped many ROS learners. In fact, I am also a newbie to ROS. ROS has little information and is difficult to get started. Now I am exploring for more information, I also hope that you can share your learning achievements on the Internet or in the ROS group.

I have seen some people running the smartcar program I wrote earlier. To make it easier for everyone to learn, I have sorted out the code these two days and uploaded it to csdn. For download, see:

Http://download.csdn.net/detail/hcx25909/5487985

The main content of the Code is the urdf file of the robot smartcar used in the front. The launch file that has been run and used can be compiled and used directly after downloading, because the Code contains path information during compilation on my computer, please use the following command to clear and then compile the Code:

rosmake smartcar_description --pre-clean

The urdf description in the urdf file in the Code is the same as that in the previous blog. The launch folder contains the following files:

The first one is actually used in gazebo simulation. You need to run gazebo before running it. But it seems that there is a problem. Every time I load it to gazebo, it seems that the physical parameters are incorrect. The robot is flying in gazebo and has not been resolved yet. If you find any problem, please give me more advice.

The second file is used when I plot the model. The main function is to display the robot model in rviz. The following code in the file:

<arg name="gui" default="false" />

If you change "false" to "true", a gui debugging interface is displayed. You can use a slider to rotate the wheel, as shown in. The default value is false.

The third file is used in the policy, which is used in the previous blog. The arbotix simulator is enabled.

There is also the rviz configuration file urdf. vcg in the root directory. As long as you modify the interface or parameters in rviz and save the settings at the launch, the file will be automatically modified.

The config folder contains the configuration files used for simulation.

 

PS:

There are still many problems in the Code. Please give me more advice and make progress together.

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Reprinted, please note: transferred from ancient-month

Http://blog.csdn.net/hcx25909

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