ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

libgazebo_ros_skid_steer_drive syntax for URDF in ROS2?

asked 2021-12-17 07:26:54 -0500

knuttu gravatar image

updated 2022-02-11 11:17:17 -0500

lucasw gravatar image

Hi! I'm fairly new to gazebo, robot modelling and plugins, and I'm now trying to make a small 4wd rover, but I have some problems with the plugins. I'm not able to make the libgazebo_ros_skid_steer_drive plugin work in my urdf file in ROS2, and I get the following error msg:

[gazebo-1] [Err] [Plugin.hh:212] Failed to load plugin cannot open shared object file: No such file or directory

This is what I have tried to put in my urdf file, but it is only a copy from the sdf version found in gazebo-ros-pkg. I have tried other syntax versions aswell, but with no luck.

    <plugin name="two_wheeled_robot_diff_drive" filename="">

    <!-- Number of wheel pairs -->

    <!-- wheels0 -->

    <!-- wheels1-->

    <!-- kinematics -->


    <!-- limits -->

    <!-- output -->


I have installed ros-foxy-gazebo-ros-pkgs and I can make the libgazebo_ros_diff_drive plugin work. Can anyone help me to fix the problem?

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2021-12-17 15:38:34 -0500

knuttu gravatar image

So it turns out that the libgazebo_ros_skid_steer_drive plugin was replaced with the libgazebo_ros_diff_drive plugin from ROS1 to ROS2. In other words, the parameters in my file were right, but the filename wasnt. When I changed it to


it worked perfectly.

edit flag offensive delete link more



Glad it worked. Thank you for sharing your answer

osilva gravatar image osilva  ( 2021-12-20 07:07:09 -0500 )edit

Question Tools

1 follower


Asked: 2021-12-17 07:26:54 -0500

Seen: 1,006 times

Last updated: Dec 17 '21