You should clone this repository to one of your workspaces in the src
directory, then run
catkin build wr_urdf_v1_5
Review the configuration in Rviz by using the following command:
roslaunch wr_urdf_v1_5 display.launch
To spawn the robot in Gazebo by running the following command:
roslaunch wr_urdf_v1_5 gazebo.launch
- Implemented the NMPC and WBC control ller