SnakeBot_ROS

Experimenting with ROS Gazebo and Simulated Snake Robot

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Contents

src

• joint state publisher for rviz.
• joint (#1) controller publisher for gazebo control. (snakebot_joint_1_publisher.cpp).

rosrun snakebot snakebot_joint_1_publisher.cpp

URDF

• snake urdf with gazebo plugin and transmissions for gazebo control.

config

• config.yaml: controller configuration.

launch

• display.launch: display urdf in rviz with standard gui joint controls.
• wave.launch: display urdf in rviz with sine wave control from src/snakebot_jointstate_publisher.cpp.
• wave_gazebo: launch urdf in gazebo and initialise the necessary controllers.

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Control Joints via rqt_gui

roslaunch snakebot wave_gazebo.launch
rosrun rqt_gui rqt_gui

Add topic plugin in rqt_gui as seen in following gif, then change the expression to change the joint value, finally check the box on the left to publish.

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Resources

• Gazebo ROS control: http://gazebosim.org/tutorials/?tut=ros_control