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rsv_balance_simulator

Simulator packages for Robosavvy's balancing platform

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.

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.