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send velocity command to wheels of pioneer3at in standalone version of gazebo

asked 2013-05-10 14:45:57 -0600

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Hi all,

I installed standalone version of gazebo and i put a pioneer3at robot with laser scanner in environment, now i can get data of laser in my code but i don't know how can i send command to robot for moving in my code, i am new in gazebo and i want to test my navigation algorithm in simulated pioneer3at robot. i don't want to use ros, just i want to work with standalone version of gazebo, any one can help me?

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answered 2013-05-11 00:40:53 -0600

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You can try and use the SkidSteerDrivePlugin to drive a pioneer3at.

Looking at the source code, it expects you to publish a pose msg to ~/your_model_name_here/vel_cmd topic

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Sending a Pose msg to a vel_cmd topic just seems wrong..

SL Remy gravatar imageSL Remy ( 2013-05-15 12:47:02 -0600 )edit

why is it wrong? i want to test my navigation algorithm so i should can control the robot, so i think it is correct . if it is possible explain more about my wrong?

Vahid gravatar imageVahid ( 2013-05-16 09:18:59 -0600 )edit

A twist message seems more appropriate for a "velocity command" topic.. maybe these messages don't exist as yet?

SL Remy gravatar imageSL Remy ( 2013-05-16 10:22:55 -0600 )edit

yes, you are right, twist message is not exist, just pose message is exist for "velocity command" topic.

Vahid gravatar imageVahid ( 2013-05-24 02:12:56 -0600 )edit
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answered 2013-05-24 02:20:17 -0600

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In more detail for sending velocity command to a pioneer3at robot in standalone gazebo, we should uncomment skidsteerdriveplugin part in SDF file of pioneer3at or add this plugin to SDF file, and we should write a publisher like this that i explain in this question, now this publisher publish velocity command to vel_cmd topic and skidsteerdriveplugin subscribe to it and set velocity command to our pioneer3at robot in field.

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Asked: 2013-05-10 14:45:57 -0600

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Last updated: May 24 '13