shengnan's profile - activity

Hi all, I got some problems when using rqt to control my joints. I want to use rqt to control the omniwheels which i defined four wheels with 4 revolute2 joint types. Revolute2 joint type has two axis that can rotate, it is not supported in URDF file but i reference all the wheels use gazebo tag, and it is working, can someone give me suggestions about how to control the two rotate axises? I think publish the joint_states as sensor_msgs/MultiDOFJointState might be helpful, but i don't know how to use it in details. and after that what should i do?

Thanks in advance!

Hi, when i use the revolute2 joint type, i got confused that how can i control axis1 or axis2 rotate? I use the URDF file and reference as gazebo tags to define the joint , and then i try to use gazebo-ros-control to control the revolute2 joint, but how can i define which axis i want to control?

Hi all, now i simulated the mecanum wheels in gazebo by simulate one hub and 12 free moving rollers, it's working but when go to the side move(side left, side right), the performance was not good, it move slowly and shake to left and right direction, i assumed that it is because of friction between plane and rollers, but i changed the <mu1>1</mu1> <mu2>1</mu2> of each rollers , it does not work.. Can someone give me some suggestions about how to fix that? Thanks in advance! Shengnan Chen

Hi arennuit, thanks for the information, now i simulated the mecanum wheels in gazebo by simulate one hub and 12 free moving rollers, it's working but when go to the side move, the performance was not good, what did you do with the friction? Can you please check my question in: http://answers.ros.org/question/23841...

Thanks in advance.

Shengnan Chen

Hi, i write a gazebo plugin to control my robot(annie), i spawn urdf file in gazebo instead of sdf file, here is my code to reference my plugin in urdf:

<gazebo> <controller:annie name="MecanumWheels" plugin="/home/gazebo_plugin_annie/build/libwheel.so"> <platform>platform</platform> <wheel1>wheel1</wheel1> <wheel2>wheel2</wheel2> <wheel3>wheel3</wheel3> <wheel4>wheel4</wheel4> <w12>w12</w12> <w22>w22</w22> <w32>w32</w32> <w42>w42</w42> </controller:annie> </gazebo>

When i launch the file, it showed that i have the wrong sdf file format. Then i tried another version instead of before: <plugin name="wheel" filename="/home/gazebo_plugin_annie/build/libwheel.so">

and it does not work neither. How can i reference(define) my own coded gazebo plugin in urdf file? Please help me, thanks in advance! Shengnan Chen