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Should I Write a Plugin For This? Changing Turtlebot wheel diameter after model loads.

asked 2016-09-23 13:56:48 -0500

ElizabethA gravatar image

I need to change the diameter of the Turtlebot's wheels within a Gazebo simulation. I've found the xacro file in which the wheel diameter is getting set (below).

I'm wondering if writing a plugin to change the wheel diameter is appropriate. My other idea is to make a second Turtlebot URDF with the new wheel diameter, delete the original Turtlebot model from the Gazebo world, and spawn the new one in its place.

Here's where wheel_diameter is set:


    <plugin name="kobuki_controller" filename=""> 



Link to the whole file:

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answered 2016-09-23 16:05:42 -0500

What's wrong with writing a second xacro? You shouldn't need to delete/respawn, however. Find the launch file that called spawn_model, then copy that as your own launch file and change the model to launch your modified version instead.

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I'm going to go with the second xacro. My delete/respawn plan is because I'm going to navigate an environment up to a point with one Turtlebot, and then I'm going to switch out that model with Turtlebot model with the wheel adjustment, to simulate a tire going flat. Thanks for your feedback!

ElizabethA gravatar imageElizabethA ( 2016-09-27 15:33:28 -0500 )edit

please accept this answer so others can find it. glad you found it useful

Peter Mitrano gravatar imagePeter Mitrano ( 2016-09-27 16:04:05 -0500 )edit

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Asked: 2016-09-23 13:52:02 -0500

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Last updated: Sep 23 '16