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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.
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.
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.
Asked: 2018-09-16 14:27:48 -0500
Seen: 505 times
Last updated: Apr 24 '20
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