You might be confused at how a robot is going to move on the topic command velocity.
This is going to be the thing we are going to add this into.
Are you idea of the robot in this portion?
And here we had a lot of links and joint.
So it is going to be added at this point.
What does it say?
It is a gazebo library, lib gazebo of differential type and it is working on command topic.
This it produces auto command velocities to main it after command velocity.
The important point here is it requires left and right wheel joints to make the robot move.
It requires the left and right joint of RV as it is a differential type to read robot and the wheel
separation and the wheel diameter is made accordingly.
It is not exactly what it is written here, so it is going to take the joint, the distance between
the two wheels and it is going to make our God move.
Let's start adding powerful things into our robot.
The first thing that we talked about is this differential drive.
Plugging this plug in is very powerful.
We don't need to do certain settings and all of that stuff, just we need to perform one small test
and that is provide left and right joint, then the wheel separation and the diameter and that's it.
This is the only thing that we need to do for our plug in.
So I have added it.
Now let's call you can in and see how does it works.
I am going to launch this.
And let's see.
Let's see what happens.
So this is a robot and now you can see it is not moving from place.
Previously it was moving from its place.
For one reason, the controller was not installed.
I'm going to open up a new terminal control shift and I'm going to run a node which is very popular
daily of keyboard package.
And that contains a keyboard related command velocity interface.
And if you have taken my basic courses, I have explained this in great detail.
So I'm not going into any detail right now.
This is going to make the robot drive on the topic of velocity.
Let's drive it.
It says eject and to try pressing AI and the robot starts to move.
If I make it, turn on the left.
And you can see it is moving, the left wing is turning backwards and the right wing would be turning
forward because it is a defensive strike over.
Let's make it come to this point.
And let's move it forward.
So arrival is going to now move backwards as I am going to spin it to the right.
So our plugin is working very fine.
Next stop the robot and add some colors to the robot.
I have written the code to add colors to this robot.
And I'll explain you what they are doing.
For.
Our simulation, we were able to provide colors with the help of this material deck inside of visual
link.
But to give colors in the gazebo simulation, we need to specify a gazebo reference to the link, or
we can add this with zero material inside of the link definition, but we have not done that.
So material is gazebo black.
These are basic predefined visible colors and I have provided them to the base cluster to be white.
We'll write should be these.
Let's say they are going to be orange, they are going to look a little bit cartoonish.
But let's take a look how they're going to look.
Stop this and stop this one as well.
In the process and kill all available servers.
They cause a lot of problems.
They are not properly.
So I can build has been done.
Let's turn on simulation with the robot and controllers installed.
Let's take a look.
I don't know why it is still white, not orange.
I don't know.
It should be.
Maybe orange is not available, but that is not possible.
The right link is the name of the link.
Correct.
Name of the link is wrong.
It's just the right.
And only the left.
I thought that the killer was having any sort of problems or skillet.
All easy server and they are not killed.
So I have to perform exert.
It's opened up a new terminal.
What is this whole mess that.
Okay.
So you've got planning and golf can build.
US to launch May's board is equal.
Pressing DAB is just writing first letter and pressing David automatically.
Let's run it and see what happens.
Is a robot looking a little better?
Yes, it is orange and black.
This nice rose to run your keyboard and your first keyboard is.
The fact is the note, your wrist keyboard is the package.
So to enable inertia, do we need it?
No, I think we don't need it.
What we need is.
Joints.
Can we see them?
We are unable to enable inertia so we can see the motion of our at joints.
We have to keep this window active to drive the robot.
Let me think it and then get to this point.
Let's start driving it now.
I am going to drive it and it is working fine.
We can see the motion on turning is opposite for both of the wheels and the cost of it is showing some
sort of problem that is repeating a lot.
Some friction coefficient problems.
If I had ordered in the opposite direction the big views rotating in the opposite directions.
Caster wheel is rotating a lot, but the robot is not taking time.
We have to fix the friction better make it of our cost will to fix this problem.
As you can see, it is still rotating, causing a lot of problems.
So I will fix it on the let you know the proper values.
I tell you what they give.
So I will think about what proper frictional values for this cost of it should be, and I will take
them into this fold.
So here you go.
You now understand the basic inertial collision and visual effects of ideas and their importance, including
this device.
A robot is ready.
Now we are going to shift towards creating order.
Ms..
Invest, we will bring this rule of law.
So let's take a look.