TELEOPERATION IN GAZEBO

IROBOT CREATE MODEL IN GAZEBO

We have met the roomba robot in one of my previous articles. Here, I work on some simple teleoperation on it, this time with a 3 dimensional model in gazebo.

I am thankful to Jeff for providing a URDF for the irobot create at http://code.google.com/p/aptima-ros-pkg/ .

TELEOPERATION

I used this roomba model with simple_office.world, which is one of the environments provided by the installation files for gazebo. I was able to move the robot around using teleoperation from teleop_base. 
 

NOTE:

1. The simulations were done in ROS 1.4.10, Diamondback, installed on Ubuntu 10.04 LTS
2. The codes for the simulation are provided at https://github.com/Arkapravo/irobot_create_gazebo