# HomeRobot_WS

**Repository Path**: hankfirst/HomeRobot_WS

## Basic Information

- **Project Name**: HomeRobot_WS
- **Description**: HomeRobot ROS Workspace 
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2020-01-06
- **Last Updated**: 2020-12-19

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

##############################################################
Author:   Shawn
Email:    zhanggx0102@163.com
Updata:     20180917
##############################################################
1. Run following command to simulate gmapping in gazebo

    $ roslaunch rover_navigation gazebo_gmapping_robot.launch 
    $ rosrun teleop_twist_keyboard teleop_twist_keyboard.py

    tips:
    <1> modify <dynamics damping="0.1" friction="0.5"/> in xacro file to get a better simulated effect.
    <2> <plugin name="skid_steer_drive_controller" filename="libgazebo_ros_skid_steer_drive.so"> parameters 
        <torque>1</torque> also influence the simulated effect.

2. Run following command to simulate navigation(AMCL) in gazebo

    $ roslaunch rover_navigation configuration_gazebo.launch
    $ roslaunch rover_navigation move_base.launch