Simulated differential drive platform for testing purposes.
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Until now, it has been created a new file, ddsr_partial, it has been used to understand this package and make some proves with.
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Description package: formal geometric description at .xacro file
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Description package: add inertial tag at links
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Description package: add limit and dynamics tags at non-fixed joints
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Description package: For each non-fixed joint, add a corresponding transmission tag
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Gazebo package: description extensions at .gazebo file for each link described at xacro file
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Gazebo package: description extensions at .gazebo file for each non-fixed joint described at xacro file
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Gazebo package: gazebo plugins, to endorse the robot with simulated sensors, hardware interfaces to actuated joints and ground truth.
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Gazebo package: world model edition
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Control package, to add control to the actuated joints
This file has been created as a starting point for any future project that wants to be created. It has to make our life easier.