How to configure tracked vehicles in gazebo
Hello, I am working on a project about tracked vehicles, and then I found the ‘tracked_vehicle_simple.world’ file about tracked vehicles in gazebo-9. After I ran this example, the tracked vehicle can be controlled by the keyboard, but I did not find any ‘~/<vehicle name="">/cmd_vel’ or ‘~/simple_tracked/cmd_vel_twist’ topic mentioned in the file. This is the result I got by using the ‘topic list’ command after running ‘tracked_vehicle_simple.world’ in gazebo-9:
/clock /gazebo/link_states /gazebo/model_states /gazebo/parameter_descriptions /gazebo/parameter_updates /gazebo/set_link_state /gazebo/set_model_state /gazebo_gui/parameter_descriptions /gazebo_gui/parameter_updates /rosout /rosout_agg
Here are my questions: 1. Why can't I find the topic mentioned in the file ? Is there something wrong? 2. Can the ‘libSimpleTrackedVehiclePlugin.so’ or ‘libTrackedVehiclePlugin.so’ plugin control the speed of the left and right tracks separately? If it can, how can I configure it. It would be great if there was an example. 3. Can ‘libSimpleTrackedVehiclePlugin.so’ or ‘libTrackedVehiclePlugin.so’ be used in xacro files?
I want to verify my algorithm to control the speed of the left and right tracks of my tracked vehicle separately. In order to configure the tracked vehicle in gazebo, I have made a lot of efforts, but the relevant information that can be found is too few. If there is already a plug-in in gazebo that can realize the function I want, I would be very grateful. If there is not a perfect plug-in for this function, I hope you can tell me. Looking forward to your reply.
