1. Clone this package inside the src folder of your catkin workspace and run the catkin_make command.
2. Change the path of custom plugin .so file at the end of the following file: SDF/model.sdf
3. Enter the following command in your terminal to run this tutorial: roslaunch differential_drive_tutorial diff_drive
Structure of the package
1. The SDF folder contain the differential drive robot model designed on the Gazebo Model Editor. Read the comments in the sdf to understand basic elements of a robot model in Gazebo.
2. The src folder contains the source code of our custom plugin. Read the comments in the code to understand the elements of a custom plugin.
3. The catkin_make command compiles this plugin source code into a shared object file and saves it at the following path: catkin_ws/devel/lib/libdifferential_drive_tutorial.so
4. The launch folder consists the launch file to run Gazebo and spawn our model into the empty_world. You can also run any other ROS node through this single launch file.
About
Simulation of a Differential Drive Robot on Gazebo using custom plugins on ROS.