Help using planar move plugin in ROS/Gazebo

asked 2015-06-08 08:46:22 -0500

maztentropy gravatar image

I am trying to simulate omni/mecanum wheels in Gazebo and it seems the way to go is using the planar move plugin. I couldn't find any in depth tutorial (I recently started using ROS/Gazebo so I might need one) about how to accomplish this so can anybody point me in the right direction? I already have a working URDF model with Gazebo elements (self collision mainly).

I can use it in gazebo and play with the values of the joints and everything works fine. I tried to add the planar move plugin adding these lines (as instructed in the gazebo tutorial):

 <gazebo>
    <plugin name="object_controller" filename="libgazebo_ros_planar_move.so">
      <commandTopic>cmd_vel</commandTopic>
      <odometryTopic>odom</odometryTopic>
      <odometryFrame>odom</odometryFrame>
      <odometryRate>20.0</odometryRate>
      <robotBaseFrame>${name_body}</robotBaseFrame>
    </plugin>   
 </gazebo>

That made the simulation run in slow-motion for some unkown reason. Does anybody have a clue why?

edit retag flag offensive close merge delete

Comments

Have you confirmed that your issue happens only when you enable the plugin you mentioned? Anyway you better provide more info (list of the nodes and topics you're running/publishing, launch files you use, any error output). Otherwise we have no idea either what's going on.

130s gravatar image 130s  ( 2015-10-31 08:20:11 -0500 )edit

I am trying to use this controller. Do you have to controller the individual wheels or the robot base?

ngoldfarb gravatar image ngoldfarb  ( 2016-01-06 22:23:31 -0500 )edit
add a comment