gazebo ackermann car simulation

asked 2011-06-15 02:03:51 -0500

uschwes
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updated 2014-01-28 17:09:51 -0500

ngrennan
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Hi,

I'm currently planning to set up a gazebo simulation for an ackermann steering vehicle (mainly with the intention to work on non-holonomic path-planning). Does anyone know if there are some urdf descriptions for such a car available somewhere?

Thanks

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answered 2011-06-15 05:54:49 -0500

Jim Rothrock

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I have created a URDF file for a Traxxas E-Maxx four-wheel-drive RC truck, along with Gazebo plug-ins to simulate shock absorbers, the steering servo, and the ESC. I'll put these items in a package and publish them.

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Thanks for your answers! I digged in a bit deeper into the topic (still quite new to ROS) with the help of the ackermann example urdf file and would now have to start writing the controller plugin. But the model in the thread posted by Bemfica is VERY simple and I'm aiming for an a bit more sophisticated model. So let me know when and under which name you'll gonna publish your items, I'd really appreciate getting some more input on how to model all this (shock absorbers, maybe tire characteristics, etc.) Thanks!

uschwes ( 2011-06-16 01:08:11 -0500 )edit

Hey Jim,

Have you ever gotten around to publishing a package for your RC truck? I was trying to search for it but couldn't find it.

Thanks, Thomas

ThomasK ( 2012-10-26 10:40:08 -0500 )edit

Yes, see http://wiki.ros.org/ackermann_vehicle .

Jim Rothrock ( 2012-11-26 07:04:49 -0500 )edit

Hey Jim I'm working on a model of an ackermann steering vehicle and would like to look into your files to get an idea how to implement a controller for the ackermann steering. Unfortunately your package doesn't exist anymore. Would it be possible to upload your package again? Thanks in advance Gleb