Simulating multi-wheel vehicles in Gazebo

urdf
gazebo

asked 2011-03-01 23:37:21 -0500

gazkune
219 ●7 ●9 ●12

Hi!

I'm quite new with Gazebo and URDF. I followed the tutorials provided by the wiki, but I still have some questions. My objective is to model a vehicle in Gazebo with an arbitrary number of wheels, which have 2 degrees of freedom (translation and rotation). I know how to do that part using URDF. However, I don't know how I can control those wheels independently. I want to have a ROS node where I can set the translation speed and the orientation angle of each wheel independently. Is that possible? Can anybody give me a hint about it?

Thanks in advance!

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answered 2011-03-02 13:45:15 -0500

hsu
5735 ●31 ●62 ●89

As suggested by David, writing a ros plugin similar to diffdrive plugin used in erratic model is probably the easiest way.

Alternatively, if for some reason you are familiar with the pr2 mechanism stack and wanted to use the pr2 controllers stack, you can see the single_link.launch example in pr2_examples_gazebo package as a starting point.

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answered 2011-03-02 03:49:26 -0500

David Lu

10932 ●123 ●219 ●250 http://MetroRobots.com/

Are you talking about simulating something like car wheels, with forward and backward translation, and steering via rotation? If not, Tully's link above is probably more useful.

In any case, check out the URDF tutorials, and for modeling in Gazebo, the erratic URDF may be quite useful.

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What if you want to simulate a car?

jkolb ( 2014-02-05 09:04:32 -0500 )edit

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answered 2011-03-02 03:19:54 -0500

tfoote

58457 ●128 ●550 ●526 http://www.ros.org/

This looks very similar to this question http://answers.ros.org/question/16/omniwheel-design-in-urdf

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answered 2015-04-17 08:11:52 -0500

rafael_palmer
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You can check https://www.youtube.com/watch?v=YJTFD... for the proper instructions of car simulations. Also in other section of that tutorial you can watch videos of any particular part simulation including car wheels. It seemed me helpful that’s why would advise you to have a look and inform if it was helpful for you too.

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Simulating multi-wheel vehicles in Gazebo

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