ROS1 + Gazebo simulation for Diablo balance bot. Adapts the sdf file from https://github.com/DDTRobot/DiabloSTLSDF
run
roslaunch diablo_simulation gazebo.launch
to start the simulation.
Accepts geometry_msgs/Twist commands at topic diablo/vel_cmd
linear.x for forward/backward velocity
linear.z between (-0.5, +0.5) to adjust height
angular.x between (-0.5, +0.5) to adjust roll angle
angular.z for turning velocity
linear.y if above 1, commands the vehicle to perform one jump