pioneer 3dx caster wheel spins in place when simulating in gazebo
I am trying to simulate Pioneer 3dx robot in gazebo (running Fuerte). When I launch the simulation the robot spawns but then the caster wheel starts spinning in place. It accelerates and after some time the back side of the robot starts to "sink" into ground in gazebo window. I can not figure out why. Same urdf model worked fine in Diamondback. I ran erratic robot simulation (which is differential drive as well) in Fuerte and it works fine, but I could not find why it doesn't work for Pioneer.
Here are the urdf files I am using
pionner3dx body
pionner3dx wheel
Differential drive plugin
Asked by aecins on 2012-08-28 14:33:26 UTC
Comments
is this taken from the p2os repo? (https://usc-ros-pkg.svn.sourceforge.net/svnroot/usc-ros-pkg/trunk/p2os) Will this repo demonstrate the same error?
Asked by hsu on 2012-08-29 14:04:12 UTC
I am running a modified version of p2os repo code. The main difference is that I am using the differential drive gazebo plugin from erratic robot. I got pioneer3DX to simulate correctly in Diamondback. I am not sure how the p2os repo code will behave under Fuerte.
Asked by aecins on 2012-08-30 11:12:21 UTC
in which case, is your repo public? It would be much easier for me (and others) to reproduce the error that way, as opposed to copy/paste files and updating file/package names in misc. places, etc. :)
Asked by hsu on 2012-08-30 11:41:19 UTC
The repository is not public yet but here's a link it's current version (https://dl.dropbox.com/u/4515184/p2os_umd.tar.gz). To run gazebo simulation run roslaunch p2os_description pioneer3dx_gazebo.launch And thanks for the effort!
Asked by aecins on 2012-08-31 07:28:48 UTC