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use rviz and urdf to simulate the differential_drive robot

asked 2017-02-19 04:35:38 -0500

Tomas yuan gravatar image

I want use the rviz and urdf to simulate the differential_drive robot , and now I have got the robot model and can show in the rviz. I can publish the cmd_vel to let the robot move ,but here is the problem : that I move the robot just change the entire robot's velocity and orientation , but I want to give the individual wheel speed to receive the same goal ,so what can I do ? please give me a hand. Thank u very much!

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RViz is not a simulator. It is a visualisation tool. If you want to simulate dynamics, use Gazebo or V-REP or a similar tool.

gvdhoorn gravatar image gvdhoorn  ( 2017-02-19 04:46:14 -0500 )edit

so if I use the Gazebo,how can I move the robot by changing the individual wheel's velocity ?

Tomas yuan gravatar image Tomas yuan  ( 2017-02-19 04:56:48 -0500 )edit

thank u very much ! :)

Tomas yuan gravatar image Tomas yuan  ( 2017-02-19 05:10:56 -0500 )edit

hello, sorry to disturb you again , I read the diff_drive_controller code in the github ,but have some problem with speed_limiter.cpp. I have been quiet confused with the "SpeedLimiter::limit(double& v, double v0, double v1, double dt)", how dose it work ?

Tomas yuan gravatar image Tomas yuan  ( 2017-02-20 01:20:02 -0500 )edit

I did not write that code, so I can't answer you right now. I'd advise you to open a new question.

gvdhoorn gravatar image gvdhoorn  ( 2017-02-20 04:14:10 -0500 )edit

ok,thank u

Tomas yuan gravatar image Tomas yuan  ( 2017-02-20 04:16:59 -0500 )edit

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answered 2017-02-19 05:04:40 -0500

gvdhoorn gravatar image

It's up to you, but I'd look at gazebo_ros_control in combination with the diff_drive_controller.

re: individual wheel velocity: that's not how we typically control mobile bases, but if you want, even that would be possible.

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Asked: 2017-02-19 04:35:38 -0500

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Last updated: Feb 19 '17