Gazebo | Ignition | Community
Ask Your Question

3 wheel non-holonomic vehicle

asked 2019-11-09 01:53:49 -0600

this post is marked as community wiki

This post is a wiki. Anyone with karma >75 is welcome to improve it.

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) image description(Expected.png)

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2019-11-11 09:40:54 -0600

chapulina gravatar image

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.

edit flag offensive delete link more


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.

Karan arjun gravatar imageKaran arjun ( 2019-11-21 07:08:43 -0600 )edit

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

chapulina gravatar imagechapulina ( 2019-11-21 12:57:47 -0600 )edit
Login/Signup to Answer

Question Tools

1 follower


Asked: 2019-11-09 01:53:49 -0600

Seen: 207 times

Last updated: Nov 11 '19