[ros-users] how to manually set the speed of the left and right motors of diff drive base

[Benjamin Cohen]

Nevermind. It seems like it would be easier to modify the newer version, the
DiffDrivePlugin class in the erratic_gazebo_plugins folder instead.

thanks,
-- ben



On Wed, Feb 2, 2011 at 1:11 AM, Benjamin Cohen <bencohen2 at gmail.com> wrote:

> 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 at 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 at 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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