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It is possible to run the simulated omni-wheel robot without plugins

asked 2020-10-30 17:33:17 -0500

al_ca gravatar image

updated 2022-10-30 09:29:02 -0500

lucasw gravatar image

Hi there,

I am wondering if it is possible to simulate an omni-wheel robot without moving it with the gazebo plugin (Planar Move Plugin), If so, can someone help me make it? I would appreciate it, thank you!

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answered 2020-11-02 13:43:47 -0500

duck-development gravatar image

yes you can if you thing of normal wheels, but with mecanum \ onmi wheels it get to complicaten with all the roller and and friction so you resould would not be better then the planar mover.

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In my case, I want to build my robot in a simulation in order to test there some things, not in the real one but to have almost the same results as if I did it in the real one... it is achievable or it isn't worth it?

al_ca gravatar image al_ca  ( 2020-11-02 15:42:41 -0500 )edit

what kind of kinematic do like to use? if you have somethin like http://www.karispro.de/ then it schould work if you have some think like this one https://www.youtube.com/watch?v=rIiF0... you will not have bennefits compared to the planar mover.

duck-development gravatar image duck-development  ( 2020-11-03 10:18:44 -0500 )edit

It's something like this

al_ca gravatar image al_ca  ( 2020-11-03 10:33:43 -0500 )edit

if it is the 3 sweden wheel then it is in the same class as mecanum and you can use the planar mover. you can look at the https://github.com/GuiRitter/OpenBase may it helps.

duck-development gravatar image duck-development  ( 2020-11-03 13:58:40 -0500 )edit

Basically, I am trying to do the same as he does from around two weeks ago and it's difficult to implement it, and many problems in the movement were appearing.. maybe I am doing something wrong idk because I am relatively new to this environment. Nevertheless, I will move on with the planar move plugin so thank you for the time and help! If you want something to add, I am waiting.

al_ca gravatar image al_ca  ( 2020-11-03 14:39:53 -0500 )edit

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Asked: 2020-10-30 17:33:17 -0500

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Last updated: Nov 02 '20