Revision history [back]

The gazebo_ros_diff_drive plugin in the gazebo_ros_pkgs for ros2 allows you to control a robot with as many wheels as you want per side. Here is an example for a 8 wheeled vehicle:

 <gazebo>
    <plugin name='diff_drive' filename='libgazebo_ros_diff_drive_mod.so'>

    <ros>
      <namespace>/ARGJ801</namespace>
      <!--<remapping>cmd_vel:=cmd_demo</remapping>-->
      <remapping>odom:=odom_demo</remapping>
    </ros>

    <!-- wheels -->
    <num_wheel_pairs>4</num_wheel_pairs>
    <left_joint>jo_w1</left_joint>
    <left_joint>jo_w2</left_joint>
    <left_joint>jo_w3</left_joint>
    <left_joint>jo_w4</left_joint>

    <right_joint>jo_w5</right_joint>
    <right_joint>jo_w6</right_joint>
    <right_joint>jo_w7</right_joint>
    <right_joint>jo_w8</right_joint>
    <!-- kinematics -->
    <wheel_separation>1.35</wheel_separation>
    <wheel_diameter>0.64</wheel_diameter>

    <!-- limits -->
    <max_wheel_torque>500</max_wheel_torque>
    <max_wheel_acceleration>2.0</max_wheel_acceleration>

    <!-- output -->
    <publish_odom>true</publish_odom>
    <publish_odom_tf>false</publish_odom_tf>
    <publish_wheel_tf>false</publish_wheel_tf>

    <odometry_frame>odom</odometry_frame>
    <robot_base_frame>base_link</robot_base_frame>

  </plugin>
    </gazebo>