checkpoint1-build-RB1

Introduction

1. Created RB-1 robot model using URDF format and visualized in Rviz
2. Simulated RB-1 robot in Gazebo and tested sending velocity commands
3. Created ROS service for controlling the robot rotation

Visualize the robot in Rviz

To display the robot model in Rviz, run the following command.

roslaunch my_rb1_description display.launch

Result:

Visualize the robot in Gazebo

Run the following command to launch the robot in Gazebo world. Gazebo is useful for testing the robot's interaction with the simulated world.

roslaunch my_rb1_gazebo my_rb1_robot_warehouse.launch

The video shows the result after running the command.

Control the robot via ROS service interface

Run the following code to launch a service server to control the robot's rotation. Open a new terminal to call the service by providing a degree of rotation.

roslaunch my_rb1_ros rotate_service.launch

rosservice call /rotate_robot "degrees: -90"

The video shows the result after running the command.