• Author: Songyan XIN [email protected]
• License: GNU General Public License, version 3 (GPL-3.0)

Cubli Robot simulation environment with ROS and Gazebo.

Simple robot with 4 link: a cube as base link and three cylinder wheel connected to the cube with continuous rotational joint.

Gazebo:

roslaunch cubli_gazebo cubli_world.launch

ROS Control (position or torque control):

roslaunch cubli_control cubli_position_control.launch

(roslaunch cubli_control cubli_torque_control.launch)

Example of Moving Joints:

rostopic pub /cubli/joint_x_position_controller/command std_msgs/Float64 "data: 0.5"