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How to create a caster wheel (Urdf model)

asked 2016-07-29 22:14:59 -0500

patrchri gravatar image

updated 2016-07-30 08:44:39 -0500

I have built a 2 wheel robot and I have been trying for hours to put a correct caster wheel on it. I followed the logic of this code in which a sphere with a fixed joint is used and I managed to make it work (or I thought so) until I commanded my robot to move. The movement was totally wrong. With the fixed joint sphere, the robot was bumping like crazy. Is there another way to create a caster wheel ?

Thanks for answering and for your time in advance.

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answered 2016-07-30 09:29:39 -0500

patrchri gravatar image

I fixed the bumping of the robot by increasing the weight of the base_link. Now the movement seems smooth.

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Adding mass in base_link has solved my problem of bumping or jerky motion of robot. Thank you.

vinit_sarode gravatar image vinit_sarode  ( 2017-03-19 05:13:36 -0500 )edit

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Asked: 2016-07-29 22:14:59 -0500

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Last updated: Mar 19 '17