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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) |
Packages
| Name | Version |
|---|---|
| gazebo_mecanum_plugins | 0.0.0 |
README
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.
CONTRIBUTING
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