Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version

Connecting your Wheels in URDF to ROS

So, there is some definite gaps in my ROS knowledge, thanks to the awesome people on here I have nearly got to where I need to. I have a custom robot, that has hector slam and navigation kinda working :)

I am now adding a URDF model to it so it is easier to see where the sensors are etc. My robot model starts with Base_frame, which has laser, lwheel, rwheel hanging off of it. When I move my robot, the laser and baseframe move, however the wheels do not.

Do I need to publish a JointState Message for the wheels? how do I go about this. my /odom (odom_frame) is created by hector slam