Using Diff Drive Plugin for Steering

asked 2021-10-25 20:30:28 -0500

Jord gravatar image

updated 2021-10-26 09:17:13 -0500

lucasw gravatar image


I'm currently using diff_drive to control my robot. The robot has 4 wheels (2 at the front and 2 at the rear), the front two wheels will be both the drive wheels and the steering wheels. What would be the best way to implement this?

Currently I am trying to create two joints for the front wheels, one to allow steering, and one to allow for drive, and then two corresponding diff drive plugins in my models SDF file for Gazebo. Whenever I send commands to the wheels to steering by publishing to the rostopic using shell commands I get no motion. My model doesn't have self-collide selected for any links. It fails to work.

Any ideas?

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Have you heard the phrase Ackermann steering? If it were me, I'd look for an existing model to see how they did it, rather than trying to invent this on my own.

Mike Scheutzow gravatar image Mike Scheutzow  ( 2021-10-26 07:31:24 -0500 )edit