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Neither URDF nor SDF will enforce Ackermann constraints for you. They can only go as far as describing the kinematics of a four-wheeled vehicle whose front wheels can be steered. The Prius SDF model from the model database has that kind of kinematic structure, for example.

But you'll need to use some plugin if you want to enforce that the wheel constraints are maintained. There's a plugin for ROS 2 doing that on gazebo_ros_pkgs.