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What is the best approach for rviz a mecanum wheeled robot?

asked 2015-05-26 04:07:24 -0500

Cubex gravatar image

I'm building a differential drive package for mecanum wheeled robot, I'm really stuck at how I can implement sideways movement into rviz, is it possible to add another odom frame that is always perpendicular to the first odom and is attached to the base_frame?

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answered 2015-05-27 03:39:14 -0500

daenny gravatar image

You can have a look at the youBot package:

https://github.com/youbot

The youbot has meccanum wheels and there is a rviz URDF model and also already a ROS driver and gazebo and V-REP simulation. So that would be probably a good start, I guess.

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From what I understand, the package uses dwa_local_planner which is possible to plan a path using sideways movement, what I need is to map an area using sideways movement manually, commanded by keyboard or virtual joystick. Or am I missing something here?

Cubex gravatar image Cubex  ( 2015-05-27 04:42:15 -0500 )edit
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Then I do not quite understand your question. What are you trying to do? If you want to teleop a meccanum wheeled robot, you can use any existing teleop package, e.g. written for the PR2, since it does not matter if it is meccanum wheel or not, as long as it is holonomic.

daenny gravatar image daenny  ( 2015-05-27 09:10:23 -0500 )edit

Yes I want to teleop a mecanum wheeled robot while also simultaneously do mapping, but I haven't been able to convert the encoder data into sideways movement that can be visualized using Rviz. What I've done so far is control sideways movement without Rviz visualizing it.

Cubex gravatar image Cubex  ( 2015-05-27 13:43:16 -0500 )edit

I am a bit confused about where the problem lies. If you already have a controller, and this publishes odom correctly for forward/backward, you can use the same frame to publish the sideways movement (just set the y axis instead of x).

daenny gravatar image daenny  ( 2015-06-03 17:31:55 -0500 )edit

tried that, but I think the way odom works is just one dimensional, or so what I've observed so far. I don't know if I'm wrong but I think to do sideways movement, it needs additional fixed odom frame which rviz doesn't allow. e.g rviz will only fix odom_frame but won't fix odom2_frame

Cubex gravatar image Cubex  ( 2015-06-03 18:49:54 -0500 )edit

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Asked: 2015-05-26 04:07:24 -0500

Seen: 1,192 times

Last updated: May 27 '15