DiscreteControlsGroup

Overview

This package is used to simulate a UGV in ROS/Gazebo

Packages Needed

• Python 2.7
• ROS Indigo (Might work in Kinetic)

Setup Bashrc File

$ sudo gedit ~/.bashrc

# Paste the following lines at the bottom of the file

export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/<username>/catkin_ws/src
source /home/<username>/catkin_ws/devel/setup.bash

If you have permissions errors

$ roscd DiscreteControlsGroup
$ cd ..
$ sudo chmod -R 777 DiscreteControlsGroup

How to Run with viewing in Gazebo

$ roscore
$ roslaunch DiscreteControlsGroup empty_world.launch 
$ rosrun DiscreteControlsGroup ugv.py