Geonhee-LEE / mpc_ros_description

Supports the various URDF and GAZEBO mobile robot model

mpc_ros_model

Overview

• This repository supports the mpc_ros repository for controlling various model like differential drive model, ackermann, holonomic model. This integrates the different models from other public packages, therefore you can clone the references separately.

Requirements

sudo apt-get install ros-melodic-hector-gazebo-plugins ros-melodic-ackermann-steering-controller ros-melodic-rqt-robot-steering

Launch the Models

Differential Drive model

roslaunch mpc_ros_description differential_model.launch

Ackermann model

roslaunch mpc_ros_description ackermann_model.launch

Bicycle model

roslaunch mpc_ros_description bicycle_model.launch

Holonomic model

roslaunch mpc_ros_description holonomic_model.launch

Can select the model according to argument

roslaunch mpc_ros_description models.launch

References

• serving_bot
• differential_drive
• steer_drive_controller
• steer_drive_ros
• hector_gazebo_plugins