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The problem was the differential_drive_controller plugin. The correct one is shown bellow:

    <gazebo>
        <plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so">
            <alwaysOn>true</alwaysOn>
            <updateRate>40</updateRate>
            <legacyMode>false</legacyMode>
            <leftJoint>FLJ</leftJoint>
            <rightJoint>FRJ</rightJoint>
            <wheelSeparation>0.356</wheelSeparation>
            <wheelDiameter>0.075</wheelDiameter>
            <torque>15</torque>
            <commandTopic>cmd_vel</commandTopic>
            <odometryTopic>odom</odometryTopic>
            <odometryFrame>odom</odometryFrame>
            <robotBaseFrame>base_link</robotBaseFrame>
            <publishWheelTF>false</publishWheelTF>
            <publishWheelJointState>false</publishWheelJointState>
            <rosDebugLevel>na</rosDebugLevel>
            <wheelAcceleration>0</wheelAcceleration>
            <wheelTorque>15</wheelTorque>
            <odometrySource>world</odometrySource>
            <publishOdomTF>true</publishOdomTF>
            <publishTf>1</publishTf>
        </plugin>
</gazebo>