Author: Maurice Rahme
This package simulates a differential drive robot in Gazebo with a custom plugin for low-level controls identical to what is available on a real Turtlebot3.
Run roslaunch <package_name> <launchfile.launch> --ros-args to view any optional arguments and their instructions.
Run roslaunch nuturtle_gazebo diff_drive_gazebo.launch to spawn the differential drive robot in Gazebo with a LiDAR
Run roslaunch nuturtle_gazebo gazebo_waypoints.launch to make the robot follow 5 waypoints with visualization in RViz.
This plugin provides the user with low-level control over the differential drive robot's wheel speed and encoder readings akin to what is available on a real Turtlebot3. You can edit the input parameters in diff_drive.gazebo.xacro under the urdf directory.