Simple URDF vehicle model

asked 2017-10-30 09:25:00 -0500

Nicola gravatar image


I have been using Gazebo for a few days and I need to simulate a wheeled vehicle, guided via keyboard, housing a GPS and an IMU. In order to do that, I found and followed this tutorial, explaining how to create and simulate an URDF model of a robot:

However I have noticed the following problems:

1) the graphic simulation is not consistent with the keyboard input commands: a "real time response" occurs only after many minutes from the simulation start.

2) I added a GPS to the "mybot.gazebo" file, using the following code:

<plugin name="name_gps" filename=""> 
<drift>5.0 5.0 5.0</drift> 
<gaussiannoise>0.1 0.1 0.1</gaussiannoise> 
<velocitydrift>0 0 0</velocitydrift> 
<velocitygaussiannoise>0.1 0.1 0.1</velocitygaussiannoise> 

However, despite not having encountered any error/warning from the GPS plugin, the /mybot/gps_fix and /mybot/gps_fixvelocity do not appear on the rostopic list.

Does anyone know how to fix these problems?

Thank you in advance

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