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Here you can see a real-time simulation and control of a model of a four-wheeled mobile robot created in Gazebo and ROS. The robot consists of a robot body, four wheels and four motors whose movement is controlled by the keyboard keys. This simulation implements a dynamic model of the robot and takes into account moments of inertia of the robot body and wheel. We can control the robot using the keyboard keys. For example, by pressing /"k/

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