Using plugin to simulate Mecanum wheels

asked 2016-02-08 20:06:14 -0600

trustyhardware gravatar image

I have been looking into simulating a base with 4 mecanum wheels in Gazebo. Firstly, it looks like making a physically accurate model of the wheels is out of the question--the simulation would run incredibly slowly. The polar opposite way of doing it would be using planar move and forget about the wheels. I was wondering if a middle ground was possible. I saw a V-REP simulation of youbot and it seems to use spheres as wheels somehow. Can someone explain how mecanum drive is done in V-REP and whether it is possible in Gazebo?

I'm not a Gazebo or ROS veteran. I running ROS Jade with Gazebo 5.

edit retag flag offensive close merge delete