ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
1 | initial version |
So it turns out I had the coliders messed up and they were inside the chassis and completely bound up, you can see that in the original question.
If anyone stumbles upon this, this is the working diff_drive for gazebo. You'll want to change the name of the joints, the namespace, and the command topic to match your robot but as long as your URDF is right this should work:
<plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so">
<legacyMode>false</legacyMode>
<alwaysOn>true</alwaysOn>
<publishWheelTF>true</publishWheelTF>
<publishTf>1</publishTf>
<publishWheelJointState>true</publishWheelJointState>
<updateRate>100.0</updateRate>
<leftJoint>base_link_rear_left_wheel_joint</leftJoint>
<leftJoint>base_link_front_left_wheel_joint</leftJoint>
<rightJoint>base_link_rear_right_wheel_joint</rightJoint>
<rightJoint>base_link_front_right_wheel_joint</rightJoint>
<wheelAcceleration>1.0</wheelAcceleration>
<torque>20</torque>
<commandTopic>/nefive/cmd_vel</commandTopic>
<odometryTopic>odom</odometryTopic>
<odometryFrame>odom</odometryFrame>
<robotBaseFrame>base_link</robotBaseFrame>
<robotNamespace>nefive</robotNamespace>
</plugin>