omni3ros_pkg

A ROS Package for three-wheeled omnidirectional robots

Getting Started

• cd catkin_ws/src
• Clone this repo here : git clone "https://github.com/YugAjmera/omni3ros_pkg"
• cd .. (Go back to catkin_ws/)
• catkin_make
• source ./devel/setup.bash
• source ~/.bashrc

Run

• To view the model in Gazebo : roslaunch omni3ros_pkg urdf_gazebo_view.launch

Model from: https://github.com/GuiRitter/OpenBase

• To view the model with controllers : roslaunch omni3ros_pkg velocity_controller.launch

• To view RVIZ model : roslaunch omni3ros_pkg urdf_rviz_view.launch

• Control the robot using keyboard keys: teleop_keyboard_omni3

If our work is helpful to you, please kindly cite our paper as:

@inproceedings{mishra2019ego,
  title={Ego-Centric framework for a three-wheel omni-drive Telepresence robot},
  author={Mishra, Ruchik and Ajmera, Yug and Mishra, Nikhil and Javed, Arshad},
  booktitle={2019 IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO)},
  pages={281--286},
  year={2019},
  organization={IEEE}
}