p2os_urdf PioneerP3DX swivel joint strange behavior

asked 2015-03-25 12:34:37 -0500

federico.ferri gravatar image

I'm trying to simulate the P3DX robot (not with gazebo), and I hit a visualization problem, which appears to be a bug in the URDF model itself:

screenshot

(the swivel has a strange behavior... it should rotate around another axis in my opinion)

Here is a launch file to test it yourself:

<launch>
  <param name="robot_description" command="$(find xacro)/xacro.py $(find p2os_urdf)/defs/pioneer3dx.xacro" />

  <node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher">
    <param name="publish_frequency" type="double" value="30.0"/>
    <param name="tf_prefix" type="string" value=""/>
  </node>

  <node name="joint_state_publisher_gui" pkg="joint_state_publisher" type="joint_state_publisher">
    <param name="use_gui" value="1" />
  </node>
</launch>

What do you think?

edit retag flag offensive close merge delete

Comments

It ought to rotate around the vertical axis. Where did this URDF model come from? Can you link to that or to your copy?

ReedHedges gravatar image ReedHedges  ( 2015-03-27 11:10:31 -0500 )edit

Also, you don't have to simulate the caster if you don't want to, only needed if you are simulating more detailed dynamic behavior, balance, friction, etc. that the caster can influence. If you just need to control the robot, the two side wheels are what drive it.

ReedHedges gravatar image ReedHedges  ( 2015-03-27 11:11:27 -0500 )edit
add a comment