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How to control a single wheel(continus joint)

asked 2018-01-19 23:12:27 -0500

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hi ,I want to control a single wheel . I know the DiffDrivePlugin but it not for me

what should I do

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answered 2018-01-22 04:38:01 -0500

Raskkii gravatar image

You could try writing your own plugin.

It should consist of a cmd_vel subscriber (or whichever topic you use for the velocity commands) and the part where you apply the command on your wheel (so for example either a setVelocity command or if you use ros_control then a publisher for the command topic).

If you're not familiar with writing plugins then I suggest you start with the tutorials. http://gazebosim.org/tutorials/?tut=p...

Do check the source code of diffrive_plugin as it has the necessary components you need.

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Asked: 2018-01-19 23:12:27 -0500

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Last updated: Jan 22 '18