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I have solved the problem of moving the robot another way. But anyway maybe it will be helpful to someone else.

I don't know the reason of the issue with wheels, but moving pioneer2dx can be performed using the pluguin. You just add this to your .world file:

<model name='pioneer2dx'>
  <!-- Your model code -->
  <plugin name='differential_drive_controller'
  filename='libgazebo_ros_diff_drive.so'>
  <alwaysOn>true</alwaysOn>
  <updateRate>100</updateRate>
  <leftJoint>left_wheel_hinge</leftJoint>
  <rightJoint>right_wheel_hinge</rightJoint>
  <wheelSeparation>0.39</wheelSeparation>
  <wheelDiameter>0.15</wheelDiameter>
  <torque>5</torque>
  <commandTopic>cmd_vel</commandTopic>
   <odometryTopic>odom</odometryTopic>
   <odometryFrame>odom</odometryFrame>
  <robotBaseFrame>chassis</robotBaseFrame>
  </plugin>
</model>

Once your world is running, you can use this to drive your Pioneer2DX:

publisher = rospy.Publisher('/%s/cmd_vel' % topic, Twist, queue_size=8)
msg = Twist()
msg.linear.x = your_linear_speed
msg.angular.z = your_angular_speed
publisher.publish(msg)