Realistic Wheel Speed Control
Hello all,
I am using Noetic and Gazebo 11. I am trying to set up a 4 wheel robot with flexible body dynamics in Gazebo. I am wanting to implement outer control laws for navigation and pose trajectory in cpp or python. I can't use a pre-build plugin like the gazebo_ros_skid_steer plugin and the JointVelocityControllers are far too abstract for what I am doing and from what I understand, you can't be sending two commands to JointVelocityControllers simultaneously. One joint will lock while the other spins. My experimentation seemed to confirm this.
Realistically, I want something where I can set the speed of each wheel by sending a command in almost an identical way to what would physically happen - things are related by "voltage" and "current". I can run the dc motor open loop or closed loop. My commands are PWM or serial signals. It seems to me that overall there is just too much for me to sort through to figure this out, so anyone who has experience with a situation like this and found an overarching approach which was very effective it would be greatly appreciated. I suspect I will need to make my own plugin, but that is outside my wheelhouse and likely much more work than it is worth for my application.