Creating a simulation of Chefbot
We have seen how the turtlebot simulation works. In this section, we will be looking at how to create our own robot simulation using Gazebo.
Before we start discussing this subject, you should copy the chefbot_gazebo
package to your catkin workspace and enter catkin_make
to build the package. Make sure you have two packages in your workspace, one called chefbot_description
and the other called chefbot_gazebo
. The chefbot_gazebo
package contains a simulation-related launch file and parameters, and chefbot_description
has the robot's URDF model, along with its simulation parameters, and the launch file that is used to view the robot in Rviz and Gazebo.
Let's begin creating our Chefbot model in Gazebo so that you can familiarize yourself with the procedure. After that, we will dig deep into the xacro file and can look at the simulation parameters.
The following launch file will show the robot model in Gazebo with an empty world and start all the Gazebo plugins...