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Using diff drive to drive a new robot

asked 2013-07-24 00:31:27 -0600

mozcelikors gravatar image

updated 2014-04-20 14:06:47 -0600

ngrennan gravatar image


I'm trying to make a model of my own robot and plugins. However, I can't drive the robot. Moreover,the information is not being published into /gz/cmd_vel or /gazebo/cmd_vel or /gz/odom topics.

Here is the header of my model.sdf

<?xml version="1.0" ?>
<sdf version="1.4">
  <model name="myrobot">
    <link name="chassis">
      <pose>0 0 .1 0 0 0</pose>

Here are the plugins of my model.sdf

<plugin name="modelplugin" filename=""/>
<plugin name="differential_drive_controller" filename="">

I don't understand these parameters, anything else except <robotbaseframe> seems right for my robot. Can anybody explain what should I write in robotBaseFrame tag.

What should I to drive the robot? Do I need any other plugin? Any answer will be much appreciated.

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answered 2014-06-24 05:20:51 -0600

keshav_sarraf gravatar image

-update rate -> frequency in (Hz) of publishing by the plugin
-leftJoint -> specify the name of the joint connecting left wheel of your differential drive robot to the chassis
-wheelSeparation -> distance between the 2 wheels in a diff drive robot -commandTopic ->name of the
-topic on which you can publish the linear and angular velocity of the robot
-odometryTopic -> Topic on which you can subscribe to the
-odometry data. robotNameSpace -> (generally the name of the robot... i am not sure)

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Hi! Can you confirm that the wheelSeparation is specified in meters?

Sidd gravatar image Sidd  ( 2015-08-19 13:05:46 -0600 )edit

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Asked: 2013-07-24 00:31:27 -0600

Seen: 3,290 times

Last updated: Jun 24 '14