Tried and tested on ROS Noetic with Gazebo version 11 Make sure gazebo ros
Git Clone the repo into the src folder of your workspace (Usually catkin_ws):
git clone https://github.com/Dreadnought-Robotics/calypso-sim
Compile it by:
catkin_make
joint state publisher :
sudo apt install ros-noetic-joint-state-publisher-gui
Controller Manager :
sudo apt-get install ros-noetic-controller-manager
Joint state controller :
sudo apt-get install ros-noetic-joint-state-controller
joint velocity controller :
sudo apt-get install ros*controller*
(installs all the controllers will be updated with specific one later)
install gazebo ros control :
sudo apt-get install ros-noetic-gazebo-ros-pkgs ros-noetic-gazebo-ros-control
Gazebo sim launcher:
roslaunch my_robot_urdf blue.launch
Teleop Launcher:
roslaunch my_robot_urdf teleop.launch
Command to look at all topics:
rostopic list