Pioneer2dx Wheel Rotation Problems?

asked 2016-07-19 14:36:40 -0500

icepaka89 gravatar image

I am using the differential drive controller, a ros gazebo plugin, to move my pioneer2dx around in a simulation. I'm kinda new to this, and I'm having a rather amusing problem. I took the sdf file from this source:

Whenever I run this file (rosrun gazebo_ros gazebo -file, I go to another terminal and use rospub to publish simple values to the /pioneer2dx/cmd_vel topic:

rostopic pub -1 /pioneer2dx/cmd_vel geometry_msgs/Twist \ '{linear: {x: 1.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}'

However instead of rotating the wheels like normal wheels would rotate (the center of rotation being the center of the wheel), the wheels seem to rotate perpendicular to the chassis of the model (they do not appear to be rotating as if a hinge were there). It's a bit hard to explain, but the issue can be reproduced by using the sdf file in the link and the above command.

My goal is to eventually write a simple program that will publish to the /pioneer2dx/cmd_vel topic and move it around different environments. What part of the sdf file is causing the wheels to not spin properly? Thanks in advance.

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