rsv_balance_simulator

Simulator packages for Robosavvy's balancing platform

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Packages

• rsv_balance_gazebo

  Package containing all necessary tools to run self-balancing platform on simulation:

  • Gazebo models.
  • Gazebo worlds.
    1. Empty.
    2. Inclined terrain.
    3. Natural terrain.
  • Launch files for:
    1. Gazebo worlds.
    2. RVIZ simulation visualization.
  • Gazebo plugin for the platform model which behaves just like the real thing.

• rsv_balance_gazebo_control

  Self-balancing control algorithm for the Gazebo plugin.

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ToDo: Further improvements

1. Refactor controller for better generalization. So we can easily test other control methods.
2. URDF parser for automatic building of control matrices and control gains.