omni3ros_pkg
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A ROS Package for three-wheeled omnidirectional robots
omni3ros_pkg
A ROS Package for three-wheeled omnidirectional robots
Getting Started
-
cd catkin_ws/src
- Clone this repo here :
git clone "https://github.com/YugAjmera/omni3ros_pkg"
-
cd ..
(Go back to catkin_ws/) -
catkin_make
-
source ./devel/setup.bash
-
source ~/.bashrc
Run
- To view the model in Gazebo :
roslaunch omni3ros_pkg urdf_gazebo_view.launch
Model from: https://github.com/GuiRitter/OpenBase
-
To view the model with controllers :
roslaunch omni3ros_pkg velocity_controller.launch
-
To view RVIZ model :
roslaunch omni3ros_pkg urdf_rviz_view.launch
-
Control the robot using keyboard keys: teleop_keyboard_omni3
If our work is helpful to you, please kindly cite our paper as:
@inproceedings{mishra2019ego,
title={Ego-Centric framework for a three-wheel omni-drive Telepresence robot},
author={Mishra, Ruchik and Ajmera, Yug and Mishra, Nikhil and Javed, Arshad},
booktitle={2019 IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO)},
pages={281--286},
year={2019},
organization={IEEE}
}