Home | Tutorials | Wiki | Issues
Ask Your Question

6-wheeled robot in gazebo

asked 2015-08-20 03:50:35 -0600

ROS_GAZEBO_USER gravatar image


I'm trying to simulate in gazebo a 6-wheeled robot and I'd like to control each wheel independently. I've tried with skidsteercontroller (but I'm afraid that's only for 4 wheels) and with diffdrivecontroller (but the problem is that each pair of wheels works in the same way, and I want ALL the wheels to run independently...) Is there any other controller useful for my case? Or at least, is there any ros_package of a 6-wheeled robot example(similar for example to r-hex robot ?

I'm using ros indigo

Thanks a lot!!

edit retag flag offensive close merge delete

2 Answers

Sort by ยป oldest newest most voted

answered 2015-09-04 09:24:52 -0600

Stefan Kohlbrecher gravatar image

There is a 6 wheel plugin and a generalized multi wheel plugin as parts of hector_gazebo_plugins. Those do not permit actuating the axis independently, but could be modified to do so. Note they are gazebo ROS plugins and not plain gazebo ones.

A usage example is available here starting in line 130.

edit flag offensive delete link more

answered 2015-08-20 09:16:08 -0600

nkoenig gravatar image

I don't know of any gazebo plugin designed for a 6-wheeled vehicle. Fortunately, it's very easy to write your own plugin. You can start by copying the skid steer or diff drive plugin.

There are lots of tutorials, and examples.

edit flag offensive delete link more
Login/Signup to Answer

Question Tools

1 follower


Asked: 2015-08-20 03:50:35 -0600

Seen: 875 times

Last updated: Sep 04 '15