This ROS package has several main functions:

1. It defines two models: a simple 4-link tricycle model and a more complicated rickshaw model
2. Both models are ready to be simulated in Gazebo
3. Both model expose APIs and can be controlled by sending commands to /cmd_vel topic
4. Visualization is done in RVIZ

1. roslaunch roboy_models gaz_rickshaw.launch
2. roslaunch roboy_navigation nav_static.launch

Note: commands should be executed in the order specified.

After that you can control the model in RVIZ by selecting 2D Nav Goal in the toolbar and placing it to the desired location on the map.

You can also use this package to only visualize the model, without running the simulation. To do so run:

roslaunch roboy_models display.launch