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Right way to move robots in Gazebo with ROS

asked 2017-02-26 04:13:47 -0600

Entrack gravatar image


  1. Pioneer2DX in Gazebo world
  2. Test python script, which rotates robot's right wheel for a second, using ROS service "gazebo/apply_body_wrench":

#!/usr/bin/env python

import rospy
from gazebo_msgs.srv import ApplyBodyWrench
from geometry_msgs.msg import *

apply_wrench = rospy.ServiceProxy("gazebo/apply_body_wrench", ApplyBodyWrench)

wrench = Wrench()
wrench.torque.z = 30.0

apply_wrench("pioneer2dx::right_wheel", "", None, wrench, rospy.Time.from_sec(0), rospy.Duration.from_sec(1.0))

In the result robot moves a little, but the wheel does not change it's relative orientation to the robot. So, the force is created, but the robot rotates not because of the wheel's motion. Nevertheless, when I apply the same torque to the same wheel through Gazebo GUI, it rotates.

So, the questions are:

  1. Why does it happen?
  2. How to make robot move properly? (Maybe I am using the wrong method)
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answered 2017-02-27 03:01:30 -0600

Entrack gravatar image

I have solved the problem of moving the robot another way. But anyway maybe it will be helpful to someone else.

I don't know the reason of the issue with wheels, but moving pioneer2dx can be performed using the pluguin. You just add this to your .world file:

<model name='pioneer2dx'>
  <!-- Your model code -->
  <plugin name='differential_drive_controller'

Once your world is running, you can use this to drive your Pioneer2DX:

publisher = rospy.Publisher('/%s/cmd_vel' % topic, Twist, queue_size=8)
msg = Twist()
msg.linear.x = your_linear_speed
msg.angular.z = your_angular_speed
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Asked: 2017-02-26 04:13:47 -0600

Seen: 1,637 times

Last updated: Feb 27 '17