Gazebo plugin and/or drive controller?

asked 2018-07-29 12:18:51 -0500

harshal gravatar image

updated 2018-08-02 14:02:47 -0500

Hi, I am a bit lost regarding the following:

Does the Differential drive Controller substitute gazebo plugins like planar move and force based move? Or is it supposed to supplement it? I was looking at the code for Husky regarding this and could not find these gazebo plugins in there.

Additionally, and my actual concern, is this unlike the Mecanum Drive Controllers where one of the gazebo plugins are needed alongside? Here, I refer to Ridgeback,which has the mecanum Drive Controller as well as forced_based_move plugin for gazebo.


Husky Repository:

  1. no (differential drive, forced based move, planar move, etc.) gazebo plugin in husky/husky_description/urdf/husky.urdf.xacro
  2. ros differential drive controller in husky/husky_control/config/control.yaml (config file)

Ridgeback Repository:

  1. Forced based move gazebo plugin in ridgeback/ridgeback_description/urdf/ridgeback.gazebo
  2. ros mecanum drive controller in ridgeback/ridgeback_control/config/control.yaml (config file)

EDIT2: I now understand(?) that the gazebo plugins or the ros controllers(in this case specifically) actually implement the same task[referring to the gazebo plugins: force based move, planar move, differential drive and the ros controllers: differential drive and mecanum drive], and that only one of the 2 need be used. Is it the case indeed? Either way, some explanation (confirmatory/corrective) is definitely welcome!

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Can you please update your question with links to the plugins etc. that you're referring to?

jayess gravatar image jayess  ( 2018-07-29 17:26:02 -0500 )edit

sorry for the late update!

harshal gravatar image harshal  ( 2018-08-02 14:03:00 -0500 )edit