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Modeling Tri-Track with URDF and Simulate it in Gazebo

asked 2018-09-16 14:27:48 -0500

IronFist16 gravatar image

Hi,

I'm trying to model a Triangular Tracked Wheels robot, which I'm building it physically. (Something similar to Wall-E character). What would be the preferred approach in doing so? I know how to model the sprockets and track's links (I already have the meshes), but how to combine them in one thread and simulate them in Gazebo, is puzzling me.

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answered 2020-04-24 18:43:27 -0500

peci1 gravatar image

The support for tracked vehicles has been merged to Gazebo 9 and 11. It works only in ODE. You can have a look at the usage here: https://github.com/osrf/gazebo/blob/g... . Non-deformable tri-tracks should be no problem.

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answered 2018-09-16 15:21:49 -0500

gvdhoorn gravatar image

updated 2018-09-16 15:36:35 -0500

Please see whether #q249874 and #q299831 answer this.

Especially the reply by @lucasw in #q249874.

Afaik, no "native" support in Gazebo exists for this, but that could have been added in some of the more recent version.


Edit: just found osrf/gazebo/pull#2652 and arxiv/1703.04316 (paper accompanying the PR).

Still not "natively supported", but getting close.

Another paper: 3D modelling and simulation of a crawler robot in ROS/Gazebo.

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Asked: 2018-09-16 14:27:48 -0500

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Last updated: Apr 24 '20