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gazebo_mecanum_plugins package from gazebo_mecanum_plugins repogazebo_mecanum_plugins |
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | TODO: License declaration |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Gazebo Plugin for the mobile robot using four mecanum wheel. |
| Checkout URI | https://github.com/qaz9517532846/gazebo_mecanum_plugins.git |
| VCS Type | git |
| VCS Version | ros2-foxy |
| Last Updated | 2022-01-23 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | simulation ros gazebo mecanum-drive |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
TODO: Package description
Additional Links
No additional links.
Maintainers
- gyro
Authors
No additional authors.
gazebo_mecanum_plugins
gazebo_mecanum_plugins is Gazebo plugins for mecanum driving.
Built with
- ROS Foxy under Ubuntu 20.04 LTS
Getting Started
Installation
``` $ sudo apt-get install ros-foxy-gazebo-ros-pkgs ros-foxy-gazebo-ros-control ros-foxy-ros-controllers
``` $ sudo apt-get install -y libgazebo11-dev
``` $ sudo apt-get install -y gazebo11
### How to using a gazebo_mecanum_plugins into xacro file.
``` bash
<gazebo>
<plugin name="gazebo_ros_mecanum_diff_drive" filename="libgazebo_ros_mecanum_diff_drive.so">
<commandTopic>cmd_vel</commandTopic>
<odometryTopic>odom</odometryTopic>
<odometryFrame>odom</odometryFrame>
<robotBaseFrame>base_footprint</robotBaseFrame>
<LeftRear>wheel_joint_1</LeftRear>
<LeftFront>wheel_joint_2</LeftFront>
<RightFront>wheel_joint_3</RightFront>
<RightRear>wheel_joint_4</RightRear>
<odometryRate>20</odometryRate>
<publishWheelTF>true</publishWheelTF>
<publishWheelJointState>true</publishWheelJointState>
<WheelTorque>1</WheelTorque>
<WheelSeparationW>0.5</WheelSeparationW>
<WheelSeparationL>0.6</WheelSeparationL>
<wheelAccel>5</wheelAccel>
<wheelDiameter>0.13</wheelDiameter>
<publishOdom>false</publishOdom>
<isRollerModel>true</isRollerModel>
</plugin>
</gazebo>
Using gazebo mecanum plugins PID drive
<gazebo>
<plugin name="zm_robot_diff_drive" filename="libgazebo_mecanum_pid_drive.so">
<commandTopic>cmd_vel</commandTopic>
<odometryTopic>odom</odometryTopic>
<odometryFrame>odom</odometryFrame>
<robotBaseFrame>base_footprint</robotBaseFrame>
<LeftRear>wheel_joint_1</LeftRear>
<LeftFront>wheel_joint_2</LeftFront>
<RightFront>wheel_joint_3</RightFront>
<RightRear>wheel_joint_4</RightRear>
<odometryRate>20</odometryRate>
<publishWheelTF>false</publishWheelTF>
<publishOdomTF>true</publishOdomTF>
<WheelTorque>30</WheelTorque>
<WheelSeparationW>0.5</WheelSeparationW>
<WheelSeparationL>0.6</WheelSeparationL>
<wheelAccel>10</wheelAccel>
<wheelDiameter>0.13</wheelDiameter>
<publishOdom>true</publishOdom>
<isRollerModel>true</isRollerModel>
<!--PID Controller Parameter-->
<Wheel_LR_P>10.0</Wheel_LR_P>
<Wheel_LR_I>0.0</Wheel_LR_I>
<Wheel_LR_D>0.0</Wheel_LR_D>
<Wheel_LF_P>10.0</Wheel_LF_P>
<Wheel_LF_I>0.0</Wheel_LF_I>
<Wheel_LF_D>0.0</Wheel_LF_D>
<Wheel_RF_P>10.0</Wheel_RF_P>
<Wheel_RF_I>0.0</Wheel_RF_I>
<Wheel_RF_D>0.0</Wheel_RF_D>
<Wheel_RR_P>10.0</Wheel_RR_P>
<Wheel_RR_I>0.0</Wheel_RR_I>
<Wheel_RR_D>0.0</Wheel_RR_D>
</plugin>
</gazebo>
Reference
[1]. gazebo_ros_pkgs, https://github.com/ros-simulation/gazebo_ros_pkgs
This repository is for your reference only. copying, patent application, academic journals are strictly prohibited.
Copyright © 2021 ZM Robotics Software Laboratory.
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| gazebo_dev | |
| gazebo_msgs | |
| gazebo_ros | |
| rclcpp | |
| ament_cmake | |
| ament_cmake_gtest | |
| ament_lint_auto | |
| ament_lint_common | |
| geometry_msgs | |
| nav_msgs | |
| tf2_geometry_msgs | |
| tf2_ros |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged gazebo_mecanum_plugins at Robotics Stack Exchange
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