4 wheel robot differential controller [closed]

asked 2018-01-20 16:44:45 -0500

kallileo gravatar image

updated 2018-01-20 16:45:14 -0500

I have designed simple a 4-wheel robot and I want to make it move. The controller below is located in "myrobot.gazebo" file and it works with 2 wheels and a caster. Is it possible to modify the controller so it can control 2 wheels on each side?

<gazebo>
<plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so">
  <legacyMode>false</legacyMode>
  <alwaysOn>true</alwaysOn>
  <updateRate>20</updateRate>
  <leftJoint>left_wheel_hinge</leftJoint>
  <rightJoint>right_wheel_hinge</rightJoint>
  <wheelSeparation>0.4</wheelSeparation>
  <wheelDiameter>0.1</wheelDiameter>
  <torque>20</torque>
  <commandTopic>cmd_vel</commandTopic>
  <odometryTopic>odom</odometryTopic>
  <odometryFrame>odom</odometryFrame>
  <robotBaseFrame>chassis</robotBaseFrame>
</plugin>
</gazebo>
edit retag flag offensive reopen merge delete

Closed for the following reason Gazebo Question: The Gazebo community prefers to answer questions at: http://answers.gazebosim.org by jayess
close date 2018-01-20 18:00:27.094441

Comments

You'll want to ask this over at http://answers.gazebosim.org/questions/

jayess gravatar imagejayess ( 2018-01-20 18:00:07 -0500 )edit

Hi @kallileo did you find the answer to this question?

tooght gravatar imagetooght ( 2018-01-21 12:37:39 -0500 )edit