The package is available at simple_differential_drive
The question is available at arashsm79 repo.
In this experiment, we are going to design a simple mobile robot and simulate it in Gazebo and then shake it using ROS2.
In this exercise, a simple diff-drive with sdf format is implemented using the documents provided here.
In this exercise, diff-drive plugin is added to the sdf file which recieves a Twist message from its cmd_vel topic.
However, this topic is a Gazebo topic and have to be converted using ros_gz_bridge to Ros2 topics. a ros2 package is created which by using a timer, it makes the robot to move forward and backward in 2sec intervals, and also a launch file is created which creates a ros_gz_bridge node alongside the main package node.
