Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

How to create a caster wheel (Urdf model)

asked 2016-07-29 22:14:59 -0500

patrchri
354 ●40 ●51 ●59

updated 2016-07-30 08:44:39 -0500

I have built a 2 wheel robot and I have been trying for hours to put a correct caster wheel on it. I followed the logic of this code in which a sphere with a fixed joint is used and I managed to make it work (or I thought so) until I commanded my robot to move. The movement was totally wrong. With the fixed joint sphere, the robot was bumping like crazy. Is there another way to create a caster wheel ?

Thanks for answering and for your time in advance.

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2016-07-30 09:29:39 -0500

patrchri
354 ●40 ●51 ●59

I fixed the bumping of the robot by increasing the weight of the base_link. Now the movement seems smooth.

edit flag offensive delete link

Comments

Adding mass in base_link has solved my problem of bumping or jerky motion of robot. Thank you.

vinit_sarode ( 2017-03-19 05:13:36 -0500 )edit

add a comment

Question Tools

1 follower

Stats

Asked: 2016-07-29 22:14:59 -0500

Seen: 4,231 times

Last updated: Mar 19 '17

How to create a caster wheel (Urdf model) edit

1 Answer

Comments

Question Tools

Stats

Related questions

How to create a caster wheel (Urdf model)