Hi,

I have made an open mobile manipulator project ~1000 working both in simulation and reality.

I have some problems with the navigation both in simulation and in reality (but here i will focus on simulation) here is my project https://github.com/panagelak/Open_Mobile_Manipulator which you can easily hopefully build in melodic after you install the depedencies (i have some instructions)

so the xacro of the robot begins here https://github.com/panagelak/Open_Mobile_Manipulator/blob/master/ommp_description/urdf/robots/ommp_sim/ommp_sim.urdf.xacro

The wheel macro is here https://github.com/panagelak/Open_Mobile_Manipulator/blob/master/ommp_description/urdf/wheels/costum_wheel/costum_wheel.urdf.xacro I think i have set them up correctly with the gazebo mu1,mu2,kp etc properties

here is the move base config using trajectory base local planner (no dwa) https://github.com/panagelak/Open_Mobile_Manipulator/tree/master/ommp_bringup/config/navigation

with roscd safespawner and ./safespawner_navigation will launch the system for navigation (check to see what it launches) make sure you have installed prerequisities for xterm emulator sudo apt-get update -y sudo apt-get install -y x-terminal-emulator

I use the diffdrivecontroller https://github.com/panagelak/Open_Mobile_Manipulator/blob/master/ommp_bringup/config/control/diff_control.yaml

But navigation has problems.. Also the diff drive controller doesn't rotate the robot well (it kind of oscillates) you can run the ./safespawnerdrive.sh script

Let me know if someone wants to Help me and is up for the Challenge to make it navigate as a champ xD

Thanks a Lot