[ros-users] Actuating a wheeled robot URDF model in gazebo
david.feilseifer at gmail.com
Fri Jul 2 08:12:36 UTC 2010
OK, I tried using the erratic model, with no luck. I got the following message:
Published Topics: /rosout, /clock, /base_scan,
/base_pose_ground_truth, /joint_states, /mechanism_statistics
None of the joints in the robot desription matches up to a motor. The
robot is uncontrollable.
I tried adding a transmission, even though this was stated to be
pr2-only on the wiki (see attached file), and that made the above
error go away, but there was still no way to control the robot. While
it was publishing a /base_pose_ground_truth topic, there was no
subscription to anything other than /clock and /time. Is there some
other way to defined motors in urdf for gazebo?
A related question. The rear caster wheel is un-actuated. Is there any
way for that joint to be published by default to a certain angle?
Unless gazebo publishes an angle (which currently it will not without
a transmission), the links will not show up in rviz. Obviously, this
is not nearly as important, but a cosmetic issue.
Thanks in advance,
On Tue, Jun 29, 2010 at 12:01 PM, John Hsu <johnhsu at willowgarage.com> wrote:
> There is an erratic model in gazebo with 2dnav stack hooked up.
> You'll need to get the unreleased wg-ros-pkg repository for this to work,
> svn co https://code.ros.org/svn/wg-ros-pkg/trunk wg-ros-pkg-unreleased
> The package is:
> This is an unreleased stack, but should be in working state:
> rosmake erratic_gazebo
> roslaunch erratic_gazebo erratic_2dnav_demo.launch
> Let me know if you run into any issues.
> On Tue, Jun 29, 2010 at 11:53 AM, David Feil-Seifer
> <david.feilseifer at gmail.com> wrote:
>> I am trying to make a urdf model for the pioneer 3dx robot that can be
>> used in gazebo. The robot is a 2-wheeled diff drive robot with a singe
>> rear caster.I have the robot visualizing correctly in rviz. However, I
>> want this robot to be drivable. I am a little unclear from the wiki
>> tutorials regarding gazebo and urdf on how to accomplish this? Is the
>> GazeboRosDiffdrive node something that I could use for the pioneer as
>> well as the erratic? What information do I need to have about the
>> pioneer in order to make a urdf model work in gazebo?
>> ros-users mailing list
>> ros-users at code.ros.org
> ros-users mailing list
> ros-users at code.ros.org
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