3 wheel non-holonomic vehicle

Hello everyone, I am new to gazebo and am designing a 3 wheel non-holonomic robot. I have attached the expected and achieved results in the images below.

Both rear wheels are revolute joints.
The front wheel is independent and connected to the main through a revolute2 joint.

image description (Achieved.png) (Expected.png)

Asked by Karan arjun on 2019-11-09 02:53:49 UTC

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Answers

It looks like the axes of your wheels are in the wrong direction. You can see them by right-clicking the robot and choosing View transparent then View joints. Check the <axis> tag on your SDF.

Asked by chapulina on 2019-11-11 10:40:54 UTC

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Thanks. It was a silly mistake.

Also, I am trying to create a 3 wheel vehicle non-holonomic vehicle (yaw axis front wheel), and then use ackermann (ROS) to move it.

Do you believe this can be done and if yes, it would be great if you'd be able to guide me.

Asked by Karan arjun on 2019-11-21 08:08:43 UTC

It can definitely be done, I suggest you google around because there are several examples out there ;) Good luck!

Asked by chapulina on 2019-11-21 13:57:47 UTC