how to move a sphere using ros control?

asked 2020-10-28 10:25:25 -0500

Nick_j gravatar image

Hi, I have created a custom bot, and to control it I have used the gazebo plugin but the problem is it is not making any turns, the bot is basically a sphere that I am trying to move. I am using ROS noetic with ubuntu 20.0 installed. Can anyone help me out ASAP?

Here is the xacro file -

<?xml version="1.0"?>

<robot <a="" href="http://xmlns:xacro="https://www.ros.org/wiki/xacro" name="gbot">xmlns:xacro="https://www.ros.org/wiki..." ><="" p=""> </robot>

<material name="blue"> <color rgba="0.203125 0.23828125 0.28515625 1.0"/> </material>

<material name="black_metal"> <color rgba="0.1 0.1 0.1 1"/> </material>

<material name="black"> <color rgba="0.0 0.0 0.0 1.0"/> </material>

<link name="base_link"> <visual>

<origin xyz="0 0 0" rpy="0 0 0"/>
  <geometry>
    <sphere radius="0.5 "/>
  </geometry>
 <material name="green">
        <color rgba="0 1 0 1"/>
  </material>

</visual>

<collision name="base_link"> <origin xyz="0 0 0"/> <geometry> <sphere radius="0.5"/> </geometry> <surface> <friction> <ode> <mu>0</mu> <mu2>0</mu2> <slip1>1.0</slip1> <slip2>1.0</slip2> </ode> </friction> </surface> </collision>

 <inertial>
  <mass value="0.2"/>
  <origin rpy="0 0 0" xyz="0 0 0"/>
  <inertia ixx="0.02" ixy="0" ixz="0" iyy="0.02" iyz="0" izz="0.02"/>
</inertial>

</link>

<link name="gbot_left"> <collision name="gbot_left"> <origin xyz=" 0.2 0 0"/> <geometry> <sphere radius="0.25"/> </geometry> </collision>

<inertial> <mass value="0.05"/> <origin rpy="0 0 0" xyz="0.2 0 0"/> <inertia ixx="0.00125" ixy="0" ixz="0" iyy="0.00125" iyz="0" izz="0.00125"/> </inertial>

<visual name="gbot_left"> <origin rpy="0 0 0" xyz="0.2 0 0"/> <geometry> <sphere radius="0.25"/> </geometry> <material name="blue"> <color rgba="0.203125 0.23828125 0.28515625 1.0"/> </material> </visual> </link>

<link name="gbot_right">

<inertial> <mass value="0.05"/> <origin rpy="0 0 0" xyz="-0.2 0 0"/> <inertia ixx="0.00125" ixy="0" ixz="0" iyy="0.00125" iyz="0" izz="0.00125"/> </inertial>

<collision name="gbot_right"> <origin xyz="-0.2 0 0"/> <geometry> <sphere radius="0.25"/> </geometry> </collision>

<visual name="gbot_right"> <origin rpy="0 0 0" xyz="-0.2 0 0"/> <geometry> <sphere radius="0.25"/> </geometry> <material name="blue"> <color rgba="0.203125 0.23828125 0.28515625 1.0"/> </material> </visual> </link>

<joint name="LRtobase" type="continuous">
<origin rpy="0 0 0" xyz="0.2 0 0"/>
<child link="gbot_left" />
<parent link="base_link"/>
<axis rpy="0 0 0" xyz="0 0 0 ...
(more)
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