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• cd catkin_ws/src
• Clone this repo here :git clone "https://github.com/YugAjmera/omni3ros_pkg"
• cd .. (Go back to catkin_ws/)
• catkin_make
• source ./devel/setup.bash
• source ~/.bashrc

• To view the model in Gazebo :roslaunch omni3ros_pkg urdf_gazebo_view.launch

Model from:https://github.com/GuiRitter/OpenBase

• To view the model with controllers :roslaunch omni3ros_pkg velocity_controller.launch

• To view RVIZ model :roslaunch omni3ros_pkg urdf_rviz_view.launch

• Control the robot using keyboard keys:teleop_keyboard_omni3

If our work is helpful to you, please kindly cite our paper as:

@inproceedings{mishra2019ego,  title={Ego-Centric framework for a three-wheel omni-drive Telepresence robot},  author={Mishra, Ruchik and Ajmera, Yug and Mishra, Nikhil and Javed, Arshad},  booktitle={2019 IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO)},  pages={281--286},  year={2019},  organization={IEEE}}