Pr2_controller for wheels robot

asked 2013-05-26 16:01:38 -0500

Gazer
136 ●26 ●35 ●42

Just wondering, I am looking to move the base of my wheels robot by using the pr2_controller. (in Gazebo) But I already looked onto the tutorial a little. I am still a bit confused. How do I incorporate the controller onto my <sdf> robot (segway RMP), do I consider it as a plugin or what? Or do I have to write controller of my own?

Some guidance will be extremely helpful for me to head into the correct direction.

Thank you all!

answered 2013-05-26 22:16:15 -0500

davinci

2563 ●35 ●45 ●60

You should place a transmission element in your model. You can then load a PR2 controller to control the joint. I am not sure if this works in sdf. In urdf you should incorporate such an element:

<transmission type="SimpleTransmission" name="caster_front_left_trans">
  <actuator name="caster_front_left_motor" />
  <joint name="caster_front_left_joint" />
  <mechanicalReduction>1</mechanicalReduction>
</transmission>

See the links this thread for more info.

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thank you. I am following the tutorial here:http://www.ros.org/wiki/pr2_controllers/Tutorials/Using%20the%20robot%20base%20controllers%20to%20drive%20the%20robot ............. so to use it, do I have to attach the controller to my sdf robot first?

Gazer ( 2013-05-27 13:20:18 -0500 )edit

For you own robot yes. Try to find the corresponding part in the urdf (or sdf) of the PR2 and copy that to your own robot.

davinci ( 2013-05-27 22:30:17 -0500 )edit

sorry, I am still confused. Would you mind to explain a little about the purpose of controller? I use the Diff-drive plugin got it moving in gazebo. I have been following the tutorials and everything is working in sdf, and the website rarely mention about PR2 controller.

Gazer ( 2013-05-29 16:15:35 -0500 )edit

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