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did u check the exported urdf model in rviz?

If you are asking about ros core stacks, you can use this link

Whether you tried by changing the corresponding joint orientation?

You can use this blog for better understanding.

Hi guys,

I was trying to use xl320 dynamixel servo with ros indigo (ubuntu 14.04) using dynamixel_motor package. But it was not detecting .I checked it again with dynamixel wizard in windows and it was working fine.The package was working fine for me with other dynamixel servos like ax12, etc .

Let me know if anyone faced similar issue? Is dynamixel package which I am using is not compatible with xl320 servo? Is there any other package for this ?

Please suggest me some solutions.

Thank you

May be this gazebo tutorials will help I guess . There they mentions about adding lasers in URDf model.

<gazebo reference="your_link_name">
<plugin name="your_link_laser_controller" filename="libgazebo_ros_laser.so">
... plugin parameters ...
</plugin>
</gazebo>

Thank u lucasw. It is useful.

Is there a way to control robot models in gazebo by using external controller? I know usually it is controlled using plugins which we are adding in urdf file.

I mean, without using a gazebo control plugin is there a way to control robot model?

Got solution. The mistake is I registered position and velocity hardware interfaces for each joints.

I am trying to use steered wheel base controller for my four wheeled mobile base. I was trying to implement steering joints as position controlled and axle joints as velocity controlled.

My problem is, while publishing cmd_vel , axle joints are not working. Velocity command from ros control is always outputs as zero. But steering joints which uses position control is working when I published yaw velocity.

Is it problem with velocity control I implemented or it is a problem with steered base controller ?

What all things I need to taken care while setting control frequency of controller manager?

You have to set publishWheelTF and publishWheelJointState tags to true inside differential drive controller, like this

<publishWheelTF>true</publishWheelTF>

<publishWheelJointState>true</publishWheelJointState>.

For more information you can go through gazebo__ros__diff__drive_8cpp_source.. After adding this, check whether odom is publishing properly using rviz.

Is there any driver package for dongbu herculex motor available in ros?

As per written in gazebo tutorial,If the tag is set to true ,the link can collide with other links in the model. You can use this link as reference gazebo Elements For Links

If you are using gazebo integrated with ros then this tutorial must be very much helpful. Mobile robot gazebo simulation. It explains things with a mobile robot example. OR follow the tutorial in gazebo website Arm manipulator gazebo simulation

I used differential drive plugin of gazebo.Inside that,there is odometry tag which publishes odom and it is publishing also.That odom topic can be selected from rviz without any errors. But it is not updating.

Hi, I loaded a mobile base with differential drive in gazebo and I am able to control it in teleop mode. I tried to connect visualization to rviz. The robot is loaded fine in rviz . Wheels are rotating , but robot is not moving. Can any explain the reason?