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I found the answer after raultron's help. I had to change the plugin to that:

  <gazebo>
   <plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so">

            <rosDebugLevel>Debug</rosDebugLevel>
            <publishWheelTF>False</publishWheelTF>
            <publishWheelJointState>True</publishWheelJointState>
            <alwaysOn>True</alwaysOn>
            <updateRate>100.0</updateRate>
            <leftJoint>joint_l_wheel</leftJoint>
            <rightJoint>joint_r_wheel</rightJoint>
        <wheelSeparation>0.22</wheelSeparation>
            <wheelDiameter>0.16</wheelDiameter>
            <broadcastTF>0</broadcastTF>            
            <wheelTorque>30</wheelTorque>
        <commandTopic>/labrob/cmd_vel</commandTopic>
            <robotBaseFrame>base_footprint</robotBaseFrame>
        <legacyMode>true</legacyMode>

   </plugin>
  </gazebo>

And roswtf shows the tree without errors correct.

I found the answer after raultron's help. I had to change the plugin to that:

  <gazebo>
   <plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so">

            <rosDebugLevel>Debug</rosDebugLevel>
            <publishWheelTF>False</publishWheelTF>
            <publishWheelJointState>True</publishWheelJointState>
            <alwaysOn>True</alwaysOn>
            <updateRate>100.0</updateRate>
            <leftJoint>joint_l_wheel</leftJoint>
            <rightJoint>joint_r_wheel</rightJoint>
        <wheelSeparation>0.22</wheelSeparation>
            <wheelDiameter>0.16</wheelDiameter>
            <broadcastTF>0</broadcastTF>            
            <wheelTorque>30</wheelTorque>
        <commandTopic>/labrob/cmd_vel</commandTopic>
            <robotBaseFrame>base_footprint</robotBaseFrame>
        <legacyMode>true</legacyMode>

   </plugin>
  </gazebo>

And roswtf shows the tree without errors correct. errors.