Part of the wheel is under ground in gazebo [closed]
I am using kinetic-ros. but in gazebo ,part of the wheel is going below ground.
<?xml version="1.0"?>
<robot name="tortoisebot">
<gazebo>
<plugin name="differential_drive_controller"
filename="libgazebo_ros_diff_drive.so">
<leftJoint>rear_left_joint</leftJoint>
<rightJoint>rear_right_joint</rightJoint>
<robotBaseFrame>base_link</robotBaseFrame>
<wheelSeparation>0.35</wheelSeparation>
<wheelDiameter>0.16</wheelDiameter>
<publishWheelJointState>true</publishWheelJointState>
</plugin>
</gazebo>
<link name="base_link">
<inertial>
<mass value="0.01"/>
<inertia ixx="0.015" ixy="0" ixz="0" iyy="0.0375" iyz="0" izz="0.0375"/>
</inertial>
<visual>
<geometry>
<box size="0.6 0.3 0.3"/>
</geometry>
<material name="silver">
<color rgba="0.75 0.75 0.75 1"/>
</material>
</visual>
<collision>
<geometry>
<box size="0.6 0.3 0.3"/>
</geometry>
</collision>
</link>
<link name="front_right_wheel">
<inertial>
<mass value="0.001"/>
<inertia ixx="5.1458e-5" ixy="0" ixz="0" iyy="5.1458e-5" iyz="0" izz="6.125e-5"/>
</inertial>
<visual>
<geometry>
<cylinder length="0.05" radius="0.08"/>
</geometry>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
<kp>1</kp>
</link>
<joint name="front_right_wheel_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="base_link"/>
<child link="front_right_wheel"/>
<origin rpy="-1.5708 0 0" xyz="0.2825 -0.160 -00.10"/>
</joint>
<link name="front_left_wheel">
<inertial>
<mass value="0.001"/>
<inertia ixx="5.1458e-5" ixy="0" ixz="0" iyy="5.1458e-5" iyz="0" izz="6.125e-5"/>
</inertial>
<visual>
<geometry>
<cylinder length="0.05" radius="0.08"/>
</geometry>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
</link>
<joint name="front_left_wheel_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="base_link"/>
<child link="front_left_wheel"/>
<origin rpy="-1.5708 0 0" xyz="0.2825 0.160 -00.10"/>
</joint>
<link name="rear_right_wheel">
<inertial>
<mass value="0.001"/>
<inertia ixx="5.1458e-5" ixy="0" ixz="0" iyy="5.1458e-5" iyz="0" izz="6.125e-5"/>
</inertial>
<visual>
<geometry>
<cylinder length="0.05" radius="0.08"/>
</geometry>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
</link>
<joint name="rear_right_wheel_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="base_link"/>
<child link="rear_right_wheel"/>
<origin rpy="-1.5708 0 0" xyz="-0.2825 -0.160 -00.10"/>
</joint>
<link name="rear_left_wheel">
<inertial>
<mass value="0.001"/>
<inertia ixx="5.1458e-5" ixy="0" ixz="0" iyy="5.1458e-5" iyz="0" izz="6.125e-5"/>
</inertial>
<visual>
<geometry>
<cylinder length="0.05" radius="0.08"/>
</geometry>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
</link>
<joint name="rear_left_wheel_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="base_link"/>
<child link="rear_left_wheel"/>
<origin rpy="-1.5708 0 0" xyz="-0.2825 0.160 -00.10"/>
</joint>
<link name="lidar_box">
<inertial>
<mass value="0.0001"/>
<inertia ixx="0.00023" ixy="0" ixz="0" iyy="0.0023" iyz="0" izz="0.00023"/>
</inertial>
<visual>
<geometry>
<box size="0.1 0.1 0.1"/>
</geometry>
<material name="silver"/>
</visual>
</link>
<joint name="lidar_joint" type="fixed">
<parent link="base_link"/>
<child link="lidar_box"/>
<origin rpy="0 0 0" xyz="0 0 0.2"/>
</joint>
</robot>
Closed for the following reason
Gazebo Question: The Gazebo community prefers to answer questions at: http://answers.gazebosim.org by
tfoote
close date 2018-06-20 13:17:58.270455
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