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What is the difference between the gazebo differential drive plugin and a differential drive controller spawned by controller_spawner?

asked 2015-05-17 21:44:36 -0500

nodge gravatar image

updated 2015-05-17 21:45:57 -0500

What's the difference between

  • a controller specified by <plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so"> in a <gazebo> tag, in an URDF file, and

  • a controller spawned by a controller_manager spawner node of type "diff_drive_controller/DiffDriveController" ?

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answered 2015-05-19 08:30:58 -0500

Adolfo Rodriguez T gravatar image
  • a controller specified by <plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so"> in a <gazebo> tag, in an URDF file, and

This is a Gazebo plugin, and hence will work only in Gazebo (doc).

  • a controller spawned by a controller_manager spawner node of type "diff_drive_controller/DiffDriveController"

This is a ros_control plugin, and will work with any supported robot backend, and includes not only Gazebo, but ros_control-enabled hardware, and potentially other simulators as well (doc).

Feature-wise they seem roughly similar: take twist commands, publish odometry. I would suggest you to look at the documentation of each alternative and figure out which works best for your setup.

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It seems that now these two behaves quite differently by default. On my current setup (ros-kinetic-desktop-full with Gazebo7), the gazebo plugin works well with joint defined with EffortJointInterface. But the ros_control plugin seems to be requiring VelocityJointInterface.

Zheng gravatar imageZheng ( 2018-07-13 19:36:29 -0500 )edit

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Asked: 2015-05-17 21:44:36 -0500

Seen: 1,647 times

Last updated: May 19 '15