where do I get a gazebo diff drive plugin?

asked Feb 28 '11

JeffRousseau
1141 ● 15 ● 21 ● 34
http://jeffrousseau.info/

So I was previously using the erratic diff drive plugin here: http://ua-ros-pkg.googlecode.com/svn/trunk/arrg/ua_controllers/erratic_gazebo_plugins

but it looks like it moved. bummer.

So I see that there seems to be code that does something similar in gazebo_plugins/src/gazebo_ros_diffdrive.cpp

however, it doesn't get built as a .so for some reason, instead it's a binary in /bin that doesn't seem to do anything. Any idea how to get a basic diff drive robot running in gazebo?

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Thanks! This will get me running again. Still, I wonder what's up with the diffdrive binary in gazebo_plungins... JeffRousseau (Mar 01 '11)edit

Diffdrive plugin that comes with gazebo_plugins package is written as a standalone ROS node, you have to launch it the way you launch any other regular ROS node, e.g. add this to your launch file: <node name="diffdrive" pkg="gazebo_plugins" type="gazebo_ros_diffdrive" respawn="true" output="screen"/> arebgun (Mar 01 '11)edit

Is the binary in gazebo_plugins the recommended way of implementing diff drive in a new robot? I had previously used the ua-ros-pkg one because it was the first thing I found... JeffRousseau (Mar 01 '11)edit

I am not exactly sure why it's implemented as a node and not a proper gazebo plugin that you add to your urdf file, that's what our implementation in ua-ros-pkg is. As far as I remember we had some trouble deleting and respawning robot on the fly in simulation, so we implemented diffdrive as a proper gazebo plugin. I think they both should work equally well for you. arebgun (Mar 01 '11)edit

that is misleading, I've ticketed it (https://code.ros.org/trac/ros-pkg/ticket/4967). Thanks. hsu (May 23 '11)edit

where do I get a gazebo diff drive plugin?

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