diff drive controller without urdf

How do i use the diff drive controller in real robot without having urdf description of that robot? How do i replace the load robot_description parameter than?

Asked by dinesh on 2020-08-30 03:04:10 UTC

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@dinesh, Why do you want to do that?. You will always need a tf_tree that computes the joint states of the robot in every moment. How the plugin is going to work if you do not have a joint state source from which you can compute how much you moved or in which you can publish commands. I mean, how do you even produce commands for the robot if you do not know how the kinematics variables are: whel_separation, wheel_radius, etc; you need something to tell the plugin how you robot is built, that is the purpose of the URDF.

Besides that, apart from the fact that the plugin by itself starts by parsing the associated URDF, for it to work, a set of transmission tags are needed, that if I am not mistakes, those are tags only related to the URDF language.

If you really want to implement something like this you will need to deal with the low level control systems of your robot by implementing not only your own plugin but also all the needeed signal to compute commands.

Asked by Weasfas on 2020-09-01 12:03:07 UTC

so to use ros controller on any real robot making a robot urdf is cumpulsory? isn't that little tedios cas making a urdf or xacro is little complicated? can't we just simple specify the robot parameter sin configuration file?

Asked by dinesh on 2020-09-01 13:20:10 UTC

@dinesh, as far as I know you cannot load any ROS Control controller if you do not have a proper harware interface, and the way you implement that is by having the transmissions to perform a map between joint and actuator spaces. Maybe the proper question here is how to use ROS Control in a real robot.

Asked by Weasfas on 2020-09-01 16:34:48 UTC

Asked by lucasw on 2021-09-14 21:39:21 UTC

diff drive controller without urdf

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