이하에 jetbotROS의 gazebo 시뮬레이터 환경이 공개되어 있었기 때문에, 시험에 움직여 보자

htps : // 기주 b. 코 m / 키 mb 린 g2 / 데에 p 소세 r

패키지 설치

sudo apt-get install ros-melodic-ros-control ros-melodic-ros-controllers ros-melodic-joint-state-controller ros-melodic-effort-controllers ros-melodic-position-controller

시뮬레이터 시작

2) Gazebo test
roslaunch jetbot_gazebo main.launch

4) How to manually send a wheel velocity commands

The range of velocity that can be given to the wheel is 0 to 100.

Left Wheel(For robot1, robot2) rostopic pub -1/robot1/joint1_velocity_controller/command std_msgs/Float64 "data: 30"rostopic pub -1/robot2/joint1_velocity_controller/command std_msgs/Float64 "

Right Wheel(For robot1, robot2) rostopic pub -1/robot1/joint2_velocity_controller/command > std_msgs/Float64 "data: 30"rostopic pub -1/robot2/joint2_velocity_controller/command std_msgs/Float6

위를 참고로 rostopic을 publish하면 jetbot이 이동하는(타이어가 회전하는) 것을 확인

rostopic pub -1 /robot1/joint1_velocity_controller/command std_msgs/Float64 "data: 30"
rostopic pub -1 /robot1/joint2_velocity_controller/command > std_msgs/Float64 "data: 30"

기타

image topic을 취득하면 카메라 영상을 표시할 수 있을 것 같다

$ rostopic list
/clock
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/set_link_state
/gazebo/set_model_state
/robot1/camera1/camera_info
/robot1/camera1/image_raw
/robot1/camera1/image_raw/compressed
/robot1/camera1/image_raw/compressed/parameter_descriptions
/robot1/camera1/image_raw/compressed/parameter_updates
/robot1/camera1/image_raw/compressedDepth
/robot1/camera1/image_raw/compressedDepth/parameter_descriptions
/robot1/camera1/image_raw/compressedDepth/parameter_updates
/robot1/camera1/image_raw/theora
/robot1/camera1/image_raw/theora/parameter_descriptions
/robot1/camera1/image_raw/theora/parameter_updates
/robot1/camera1/parameter_descriptions
/robot1/camera1/parameter_updates
/robot1/cmd_vel
/robot1/joint1_velocity_controller/command
/robot1/joint2_velocity_controller/command
/robot1/joint_states
/robot1/odom
/robot2/camera1/camera_info
/robot2/camera1/image_raw
/robot2/camera1/image_raw/compressed
/robot2/camera1/image_raw/compressed/parameter_descriptions
/robot2/camera1/image_raw/compressed/parameter_updates
/robot2/camera1/image_raw/compressedDepth
/robot2/camera1/image_raw/compressedDepth/parameter_descriptions
/robot2/camera1/image_raw/compressedDepth/parameter_updates
/robot2/camera1/image_raw/theora
/robot2/camera1/image_raw/theora/parameter_descriptions
/robot2/camera1/image_raw/theora/parameter_updates
/robot2/camera1/parameter_descriptions
/robot2/camera1/parameter_updates
/robot2/cmd_vel
/robot2/joint1_velocity_controller/command
/robot2/joint2_velocity_controller/command
/robot2/joint_states
/robot2/odom
/rosout
/rosout_agg
/tf
/tf_static

참고

htps : // 기주 b. 코 m / 키 mb 린 g2 / 데에 p 소세 r
Jetbot
JetBot Model for Gazebo Robotics Simulator