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You might be confused at how a robot is going to move on the topic command velocity.

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This is going to be the thing we are going to add this into.

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Are you idea of the robot in this portion?

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And here we had a lot of links and joint.

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So it is going to be added at this point.

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What does it say?

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It is a gazebo library, lib gazebo of differential type and it is working on command topic.

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This it produces auto command velocities to main it after command velocity.

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The important point here is it requires left and right wheel joints to make the robot move.

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It requires the left and right joint of RV as it is a differential type to read robot and the wheel

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separation and the wheel diameter is made accordingly.

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It is not exactly what it is written here, so it is going to take the joint, the distance between

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the two wheels and it is going to make our God move.

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Let's start adding powerful things into our robot.

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The first thing that we talked about is this differential drive.

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Plugging this plug in is very powerful.

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We don't need to do certain settings and all of that stuff, just we need to perform one small test

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and that is provide left and right joint, then the wheel separation and the diameter and that's it.

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This is the only thing that we need to do for our plug in.

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So I have added it.

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Now let's call you can in and see how does it works.

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I am going to launch this.

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And let's see.

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Let's see what happens.

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So this is a robot and now you can see it is not moving from place.

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Previously it was moving from its place.

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For one reason, the controller was not installed.

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I'm going to open up a new terminal control shift and I'm going to run a node which is very popular

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daily of keyboard package.

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And that contains a keyboard related command velocity interface.

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And if you have taken my basic courses, I have explained this in great detail.

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So I'm not going into any detail right now.

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This is going to make the robot drive on the topic of velocity.

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Let's drive it.

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It says eject and to try pressing AI and the robot starts to move.

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If I make it, turn on the left.

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And you can see it is moving, the left wing is turning backwards and the right wing would be turning

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forward because it is a defensive strike over.

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Let's make it come to this point.

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And let's move it forward.

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So arrival is going to now move backwards as I am going to spin it to the right.

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So our plugin is working very fine.

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Next stop the robot and add some colors to the robot.

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I have written the code to add colors to this robot.

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And I'll explain you what they are doing.

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For.

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Our simulation, we were able to provide colors with the help of this material deck inside of visual

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link.

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But to give colors in the gazebo simulation, we need to specify a gazebo reference to the link, or

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we can add this with zero material inside of the link definition, but we have not done that.

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So material is gazebo black.

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These are basic predefined visible colors and I have provided them to the base cluster to be white.

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We'll write should be these.

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Let's say they are going to be orange, they are going to look a little bit cartoonish.

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But let's take a look how they're going to look.

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Stop this and stop this one as well.

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In the process and kill all available servers.

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They cause a lot of problems.

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They are not properly.

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So I can build has been done.

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Let's turn on simulation with the robot and controllers installed.

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Let's take a look.

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I don't know why it is still white, not orange.

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I don't know.

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It should be.

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Maybe orange is not available, but that is not possible.

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The right link is the name of the link.

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Correct.

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Name of the link is wrong.

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It's just the right.

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And only the left.

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I thought that the killer was having any sort of problems or skillet.

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All easy server and they are not killed.

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So I have to perform exert.

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It's opened up a new terminal.

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What is this whole mess that.

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Okay.

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So you've got planning and golf can build.

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US to launch May's board is equal.

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Pressing DAB is just writing first letter and pressing David automatically.

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Let's run it and see what happens.

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Is a robot looking a little better?

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Yes, it is orange and black.

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This nice rose to run your keyboard and your first keyboard is.

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The fact is the note, your wrist keyboard is the package.

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So to enable inertia, do we need it?

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No, I think we don't need it.

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What we need is.

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Joints.

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Can we see them?

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We are unable to enable inertia so we can see the motion of our at joints.

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We have to keep this window active to drive the robot.

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Let me think it and then get to this point.

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Let's start driving it now.

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I am going to drive it and it is working fine.

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We can see the motion on turning is opposite for both of the wheels and the cost of it is showing some

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sort of problem that is repeating a lot.

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Some friction coefficient problems.

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If I had ordered in the opposite direction the big views rotating in the opposite directions.

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Caster wheel is rotating a lot, but the robot is not taking time.

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We have to fix the friction better make it of our cost will to fix this problem.

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As you can see, it is still rotating, causing a lot of problems.

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So I will fix it on the let you know the proper values.

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I tell you what they give.

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So I will think about what proper frictional values for this cost of it should be, and I will take

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them into this fold.

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So here you go.

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You now understand the basic inertial collision and visual effects of ideas and their importance, including

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this device.

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A robot is ready.

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Now we are going to shift towards creating order.

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Ms..

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Invest, we will bring this rule of law.

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So let's take a look.