Make correct Joint in gazebo to control own robot.

asked 2019-02-17 07:07:37 -0500

Pawel193a gravatar image

updated 2019-02-17 07:11:20 -0500

gvdhoorn gravatar image

Hello i project my own model of robot in gazebo. Now i would like to make movable only wheels of my robot. I just wana ride atm. How can i do it, with use ROS. I use simple tutorial, and now i am stuck in point. I dont know how to make correct wheels control for my robot. Thank you for help:

My SDF model ( i can not update it):

<?xml version='1.0'?>
<sdf version='1.4'>
  <model name='Argo'>
  <static>false</static>
    <link name='chassis'>
      <pose frame=''>0.539296 0.027963 0.973199 0 -0 0</pose>
      <visual name='visual'>
        <geometry>
          <box>
            <size>2 1 0.3</size>
          </box>
        </geometry>
      </visual>
      <collision name='collision'>
        <geometry>
          <box>
            <size>2 1 0.3</size>
          </box>
        </geometry>
      </collision>
      <collision name='caster_collision'>
        <pose>-0.8 0 -0.125 0 -0 0</pose>
        <geometry>
          <sphere>
            <radius>0.125</radius>
          </sphere>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>0</mu>
              <mu2>0</mu2>
              <slip1>1.0</slip1>
              <slip2>1.0</slip2>
            </ode>
          </friction>
        </surface>
      </collision>
      <visual name='caster_visual'>
        <pose>-0.8 0 -0.125 0 -0 0</pose>
        <geometry>
          <sphere>
            <radius>0.125</radius>
          </sphere>
        </geometry>
      </visual>
    </link>

    <link name='left_010'>
      <pose>0.595277 0.694334 0.175054 -0.000571 1.5707 1.57013</pose>
      <collision name='collision'>
        <geometry>
          <cylinder>
            <radius>0.125</radius>
            <length>0.05</length>
          </cylinder>
        </geometry>
      </collision>
      <visual name='visual'>
        <geometry>
          <cylinder>
            <radius>0.125</radius>
            <length>0.05</length>
          </cylinder>
        </geometry>
      </visual>
    </link>

    <link name='left_001'>
      <pose>-0.421487 0.701029 0.246914 -0.000571 1.5707 1.57013</pose>
      <collision name='collision'>
        <geometry>
          <cylinder>
            <radius>0.125</radius>
            <length>0.05</length>
          </cylinder>
        </geometry>
      </collision>
      <visual name='visual'>
        <geometry>
          <cylinder>
            <radius>0.125</radius>
            <length>0.05</length>
          </cylinder>
        </geometry>
      </visual>
    </link>

    <link name='left_100'>
      <pose>1.48848 0.698161 0.218916 -0.000571 1.5707 1.57013</pose>
      <collision name='collision'>
        <geometry>
          <cylinder>
            <radius>0.125</radius>
            <length>0.05</length>
          </cylinder>
        </geometry>
      </collision>
      <visual name='visual'>
        <geometry>
          <cylinder>
            <radius>0.125</radius>
            <length>0.05</length>
          </cylinder>
        </geometry>
      </visual>
    </link>

    <link name='w_prawy_p'>
      <pose frame=''>1.18695 -0.542517 0.540615 0 0.838066 0</pose>
      <visual name='visual'>
        <geometry>
          <box>
            <size>0.945893 0.069138 0.065576</size>
          </box>
        </geometry>
      </visual>
      <collision name='collision'>
        <geometry>
          <box>
            <size>0.945893 0.069138 0.065576</size>
          </box>
        </geometry>
      </collision>
    </link>

    <link name='w_lewy_p'>
      <pose>1.24005 0.575011 0.589233 0 0.838066 0</pose>
      <visual name='visual'>
        <geometry>
          <box>
            <size>0.945893 0.069138 0.065576</size>
          </box>
        </geometry>
      </visual>
      <collision name='collision'>
        <geometry>
          <box>
            <size>0.945893 0.069138 0.065576</size>
          </box>
        </geometry>
      </collision>
    </link>
    <link name='w_lewy_tyl_dlugi'>
      <pose>0.112532 0.575085 0.599717 0 -0.582285 0</pose>
      <visual name='visual'>
        <geometry>
          <box>
            <size>1.34377 0.069138 0.065576</size>
          </box>
        </geometry>
      </visual>
      <collision name='collision'>
        <geometry>
          <box>
            <size>1.34377 0.069138 0.065576</size>
          </box>
        </geometry>
      </collision>
    </link>
    <link name='w_lewy_tyl_srodek'>
      <pose>0.422499 0.574552 0.404634 0 0.906142 ...
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