Thanks John.

I just went through the code and I can't seem to find where the ActArrayData
is stored, containing the speed of the actuators. How does the
PositionIface<http://playerstage.sourceforge.net/doc/Gazebo-manual-svn-html/classgazebo_1_1PositionIface.html>set
the motor commands? It seems like it only contains the commanded pose
of
the entire robot.

-- ben



On Tue, Feb 1, 2011 at 11:47 PM, John Hsu <johnhsu@willowgarage.com> wrote:

> Hi Ben,
> are you talking about this plugin<https://code.ros.org/svn/ros-pkg/stacks/simulator_gazebo/trunk/gazebo_plugins/src/gazebo_ros_diffdrive.cpp>?
>  Starting with that plugin as reference, you should be able to modify it to
> do what you described?
> John
>
> On Tue, Feb 1, 2011 at 8:31 PM, Benjamin Cohen <bencohen2@gmail.com>wrote:
>
>> Hey,
>>
>> I was wondering if there is a differential drive gazebo plugin for small
>> platforms (specifically for the Erratic) that allows me to manually set the
>> velocity of the left motor and right motor instead of using a
>> geometry_msgs/Twist to control the center of the base.
>>
>> for example:  instead of publishing a Twist message on the /cmd_vel topic
>> to control the base of the robot, I would instead publish a message on
>> /cmd_motors with 2 floats, left_rpm & right_rpm to drive it around.
>>
>> thanks,
>> -- ben
>>
>>
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>>
>
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