how to move robot in gazebo using joints or motors [closed]

asked 2014-10-02 03:10:07 -0500

180 ●18 ●25 ●30

updated 2014-10-02 03:49:26 -0500

I have one urdf file for an car look robot . I would like to move the robot in the gazebo simulator. the car have 4 links for 4 wheel. 4 joints attached with the 4 wheel link. I also add actuator and transmission in the robot. I would like to know which method will be the best to move the robot. Should I deal with the joints or is there any other way out to do it. I really stuck in here. please help me.....

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Closed for the following reason the question is answered, right answer was accepted by l0g1x
close date 2015-06-25 00:40:04.880816

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answered 2014-10-02 09:14:55 -0500

l0g1x

1526 ●25 ●34 ●51 http://chicagoedt.org/

updated 2014-10-02 09:16:56 -0500

Here would be the place to look. It is part of the gazebo_ros_pkgs which you can either apt-get the debian, or download the source for github and compile it yourself. Many gazebo plugin's are listed here, and what you are look for (if your drivetrain system is what i think it is) is the SkidSteerDrive plugin which you will find towards the bottom of the page.

<gazebo>
   <plugin name="skid_steer_drive_controller" filename="libgazebo_ros_skid_steer_drive.so">
   <updateRate>100.0</updateRate>
   <robotNamespace>/</robotNamespace>
   <leftFrontJoint>front_left_wheel_joint</leftFrontJoint>
   <rightFrontJoint>front_right_wheel_joint</rightFrontJoint>
   <leftRearJoint>back_left_wheel_joint</leftRearJoint>
   <rightRearJoint>back_right_wheel_joint</rightRearJoint>
   <wheelSeparation>0.4</wheelSeparation>
   <wheelDiameter>0.215</wheelDiameter>
   <robotBaseFrame>base_link</robotBaseFrame>
   <torque>20</torque>
   <topicName>cmd_vel</topicName>
   <broadcastTF>false</broadcastTF>
 </plugin>
</gazebo>

Just keep in mind, this format is for a URDF formatted file. If you are using SDF, You should just take out the gazebo tags.

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thank you very much for the help. I have developed the robot using the urdf. should I add the above below my urdf file or create another urdf. After this addition how can I control the wheel rotation. Publishing geometry_msgs::Twist on cmd_vel topic will be enough or any thing else.. Thanks again,,

Robot ( 2014-10-02 09:35:34 -0500 )edit

All you need to do is send the cmd_vel msg, and the plugin listen's to that cmd_vel topic and takes care of moving the robots joints for you, as long as you set up your joints correctly. It will also output a Odom topic if you are interested in it.