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Hello there, After a bit of research i manage to achieve my goal, however it was necessary to change the urdf tree, indeed, there where was the problem or maybe the in meshes... Following the tutorials from the gazebo page i made a .sdf description of the robot and built from scratch the structure. First adding my chassis and from there every wheel and steering link. I Created a new folder in the main gazebo folder where all the model reside, and stored in there the .sdf and .config files. So now, it's alive!. But from it self, i going to put again the PID controllers in the .sdf and move it from the teleop_twist_key. Here is how it looks like with out controllers. Sorry for the noise, my computer is a little old.

https://drive.google.com/drive/folders/16bO4P0mH0Uh8BLXz8t6-thc4TeWwBMpu?usp=sharing

Links: First https://www.youtube.com/watch?v=aP4sDyrRzpU | http://gazebosim.org/tutorials?tut=inertia&cat=build_robot

Second http://gazebosim.org/tutorials/?tut=build_robot | http://gazebosim.org/tutorials?tut=build_robot&cat=build_robot

Third http://gazebosim.org/tutorials/?tut=attach_meshes

SDF format: http://osrf-distributions.s3.amazonaws.com/sdformat/api/dev.html#sdf0