Home | Tutorials | Wiki | Issues
Ask Your Question
0

Should I Write a Plugin For This? Changing Turtlebot wheel diameter after model loads.

asked 2016-09-23 13:56:48 -0600

ElizabethA gravatar image

I need to change the diameter of the Turtlebot's wheels within a Gazebo simulation. I've found the xacro file in which the wheel diameter is getting set (below).

I'm wondering if writing a plugin to change the wheel diameter is appropriate. My other idea is to make a second Turtlebot URDF with the new wheel diameter, delete the original Turtlebot model from the Gazebo world, and spawn the new one in its place.

Here's where wheel_diameter is set:

<gazebo>

    <plugin name="kobuki_controller" filename="libgazebo_ros_kobuki.so"> 
     <publish_tf>1</publish_tf> 

      <wheel_diameter>0.070</wheel_diameter> 


           </plugin> 
  </gazebo>

Link to the whole file: https://github.com/yujinrobot/kobuki/...

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted
0

answered 2016-09-23 16:05:42 -0600

What's wrong with writing a second xacro? You shouldn't need to delete/respawn, however. Find the launch file that called spawn_model, then copy that as your own launch file and change the model to launch your modified version instead.

edit flag offensive delete link more

Comments

I'm going to go with the second xacro. My delete/respawn plan is because I'm going to navigate an environment up to a point with one Turtlebot, and then I'm going to switch out that model with Turtlebot model with the wheel adjustment, to simulate a tire going flat. Thanks for your feedback!

ElizabethA gravatar imageElizabethA ( 2016-09-27 15:33:28 -0600 )edit

please accept this answer so others can find it. glad you found it useful

Peter Mitrano gravatar imagePeter Mitrano ( 2016-09-27 16:04:05 -0600 )edit
Login/Signup to Answer

Question Tools

1 follower

Stats

Asked: 2016-09-23 13:52:02 -0600

Seen: 206 times

Last updated: Sep 23 '16