urdf_tutorial:
1. joint_state_publisher
http://wiki.ros.org/joint_state_publisher
2. robot_state_publisher
http://wiki.ros.org/robot_state_publisher
3. urdf_sim_tutorial
可以学习ROS-Gazebo的使用
4. joint_state_controller/JointStateController:Gazebo发布机器人的关节状态
position_controllers/JointPositionController:让Gazebo订阅了一个由ROS发布的话题,控制一个joint
rostopic pub /r2d2_head_controller/command std_msgs/Float64 "data: -0.707"
position_controllers/JointGroupPositionController:控制一个group,而不是单个joint
rostopic pub /r2d2_gripper_controller/command std_msgs/Float64MultiArray "layout: dim: - label: '' size: 3 stride: 1 data_offset: 0 data: [-0.4, 0, 0]"
hardware_interface/VelocityJointInterface</hardwareInterface>
diff_drive_controller/DiffDriveController
5. rqt_robot_steering:
<param name="default_topic" value="/r2d2_diff_drive_controller/cmd_vel"/>