Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version

Gazebo has a built-in skid steer controller. See http://gazebosim.org/tutorials?tut=ros_gzplugins#SkidSteeringDrive for how to configure this in the robot URDF model.

See Pioneer 3 AT for an example: https://github.com/MobileRobots/amr-ros-config/blob/master/description/urdf/pioneer3at.urdf.xacro

I have just started working on a URDF for Seekur Jr with Gazebo support. Did you already create one?

I would expect the diff drive to work almost the same but with unrealistically small error. Actually the slip/error on the real Seekur Jr. will not be as bad as the Pioneer 3-AT since the tires don't have quite as much friction/contact area as on the wide flat P3AT tires, and the Seekur Jr. motors have a lot more torque as well.

I know this is an old question but I just happened to find it while searching for info on Gazebo skid steer control.

Gazebo has does now have a built-in skid steer controller. See http://gazebosim.org/tutorials?tut=ros_gzplugins#SkidSteeringDrive for how to configure this in the robot URDF model.

See Pioneer 3 AT for an example: https://github.com/MobileRobots/amr-ros-config/blob/master/description/urdf/pioneer3at.urdf.xacro

I have just started working on a URDF for Seekur Jr with Gazebo support. Did you already create one?

I would expect the diff drive to work almost the same but with unrealistically small error. Actually the slip/error on the real Seekur Jr. will not be as bad as the Pioneer 3-AT since the tires don't have quite as much friction/contact area as on the wide flat P3AT tires, and the Seekur Jr. motors have a lot more torque as well.