- Clone and build the repository in local workspace
- To launch the gazebo simulation of the agv :
roslaunch agv_low agv_low_youbot_collisionwheel.launch
- To launch to position controller :
roslaunch position_controller start.launch
- To publish the desired pose :
rostopic pub /agv_mecanum/sp_pose geometry_msgs/PoseStamped "header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: ''
pose:
position:
x: 1.0
y: 1.0
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.99749499
w: 0.0707372"
- To execute a sample trajectory :
rosrun position_controller trajectory_planner.py
Implement Cascaded Velocity Control (tf.lookupTwist())