Fusion 360 to URDF | Adding Gazebo plugin | Keyboard Teleop | LiDAR | Part -2

This video is the continuation of The Fusion360 to URDF Series. In this video I will be discussing about
1) How to launch the Robot Model in Gazebo.
2) Adding Gazebo plugins for Keyboard Teleoperation.
3) Solutions on how to fix minor errors like robot not moving, drifting, wrong direction of the rotation of wheel etc.
4) Addition of Hokuyo Lidar Gazebo Plugin.
5) Specifying the correct parameters for the same and simulation in Gazebo.
The robot model I designed has the castors attached to the base_link as a single body therefore not allowing us to specify the frictional parameters for the castors separately thus there might be small variations in the velocity of the robot from the applied cmd_vel.
This can be fixed by playing around with the frictional parameters in the myrobot.gazebo file or by making the castors as a separate body with a rigid joint while modelling the robot in fusion360.
I am sharing the github link to the urdf I have generated, feel free to modify play around with the parameters add colors to the robot model and most importantly learn by doing!
github.com/jer...
There will be a part 3 coming up soon which will cover on the following topics
Creation of a Custom Gazebo world
Mapping the Custom world with Gmapping package
Autonomous Navigation from point A to B using the ROS Navigation Stack.
Note: I am a student and still learning ROS , If there is any mistake from my side please do point it out so that I can correct them in the future.
#ROS #RobotOperatingSystem #Robotics#Fusion2URDF#Gazebo#Hokuyo#Plugins#Slam