ROS based, simulation and control of a wheeled robot using gamer's steering wheel

Abstract

Search and rescue robots to be deployed in disaster prone areas, are trending in the field of humanitarian research. As these robots are expected to maneuver through multiple terrains and avoid profuse obstacles, its behavior has to be reckoned prior to implementation of the robot in real-time scenarios. A basic robot has been created in solid works and simulated in Gazebo of Robot Operating System (ROS). A gamer's steering wheel is used to control the movement and speed of the robot in various schemas. The triumphant integration of robot with Gazebo needs a well-defined robot which describes all the transforms from ROS base-link to all other ROS child-links.