# ROS_demo_ros_control

**Repository Path**: AndyCui/ros_-demo

## Basic Information

- **Project Name**: ROS_demo_ros_control
- **Description**: 这是一个ROS学习Demo的仓库，学习内容可以关注B站AndyRobot的视频
- **Primary Language**: Python
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 4
- **Forks**: 4
- **Created**: 2021-08-26
- **Last Updated**: 2025-04-20

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# ROS_demo_ros_control

#### 介绍
这是一个如何用ros_control控制机器人模型运动的Demo。  
学习内容可以关注B站AndyRobot的视频。  

#### 软件架构
Ubuntu20.04  
ROS noetic  
gazebo11.3  


#### 安装教程

ROS用ros_control控制机器人模型  
  
1.下载源代码  
https://gitee.com/AndyCui/ros_-demo.git  
2.创建工作空间  
mkdir -p demo_ros-control_ws/src  
cd demo_ros-control_ws/  
3.拷贝源码到demo_ros-control_ws/src目录下并解压并提取内容到src下  
4.catkin_make编译  
5. 启动仿真  
启动新控制台  
source ./devel/setup.bash   
roslaunch rrbot_gazebo rrbot_world.launch  
6.加载控制器  
启动新控制台  
source ./devel/setup.bash   
roslaunch rrbot_control rrbot_control.launch  
7.给python文件添加执行权限  
启动新控制台  
source ./devel/setup.bash   
sudo chmod u+x ./src/rrbot_control/script/topic_publisher.py  
8.执行python文件  
rosrun rrbot_control topic_publisher.py   

#### 参与贡献  

https://blog.csdn.net/weixin_43455581/article/details/106334220  
https://blog.csdn.net/wxflamy/article/details/79228736  
https://www.guyuehome.com/20623  
https://blog.csdn.net/u012923807/article/details/93601716  
https://blog.csdn.net/x_r_su/article/details/53304034?ABstrategy=codes_snippets_optimize_v3  
https://vimsky.com/examples/detail/python-method-rospy.Publisher.html  
https://blog.csdn.net/wxflamy/article/details/79228736