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Publishing in different topics for each wheel

asked 2015-08-20 11:34:22 -0600

Ros_user gravatar image

updated 2015-08-22 01:57:07 -0600

ahendrix gravatar image

How can I (having a 6-wheeled robot and using the DiffDrivePlugin6w from hectorgazebo plugins) make that each wheel subscribes in a different topic: Now I've been able to make that all the wheels move at the same time (they are all "answering" to the cmd_vel topic), but I'd like something like cmd_vel_front_left topic,....

  <plugin name="DiffDrivePlugin6W" filename="">
      <frontRightJoint>front_right_wheel_joint </frontRightJoint>
      <midLeftJoint>medium_left_wheel_joint </midLeftJoint>
      <midRightJoint>medium_right_wheel_joint </midRightJoint>
      <rearLeftJoint>back_left_wheel_joint </rearLeftJoint>
      <rearRightJoint>back_right_wheel_joint </rearRightJoint>


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dornhege gravatar image dornhege  ( 2015-08-20 11:54:08 -0600 )edit

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answered 2015-08-21 01:08:55 -0600

mgruhler gravatar image

You would need to write a new driver for this. The DiffDrivePlugin6W takes in the /cmd_vel topic for the base_link and not for each wheel seperately! It then computes the single wheel velocities based on this command.

Thus, using this Plugin, you cannot do what you want without modification.

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Asked: 2015-08-20 11:34:22 -0600

Seen: 244 times

Last updated: Aug 22 '15