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ok for starters you have a link named "odom" in your urdf. This is probably not what you want, because this way the joint of base_link to odom (the position of the robot in the odom frame) can not change.

ok for starters you have a link named "odom" in your urdf. This is probably not what you want, because this way the joint of base_link to odom (the position of the robot in the odom frame) can not change.

What is your fixed frame in rviz set to? and does the tf between odom and base link change? (After fixing the urdf)

ok for starters you have a link named "odom" in your urdf. This is probably not what you want, because this way the joint of base_link to odom (the position of the robot in the odom frame) can not change.

What is your fixed frame in rviz set to? and does Please take a look at the tf between odom and base link change? (After fixing Gazebo Ros tutorials on how to use the urdf)differential or skid steering plugin.

ok for starters you have a link named "odom" in your urdf. This is probably not what you want, because this way the joint of base_link to odom (the position of the robot in the odom frame) can not change.

Your robot will not move unless the tf between odom and base_link is updated.

Please take a look at the Gazebo Ros tutorials on how to use the differential or skid steering plugin.