The wheels of my two-wheeled robot is revoluting around the robot instead of rotating. Can anyone spot any error in it? Video Link: https://youtu.be/8pk-6AY4br0
I made a 2 wheel robot in urdf and simulating using ROS in gazebo. https://youtu.be/8pk-6AY4br0 is the video of the robot. Can anyone help what's wrong in this? and how can I correct the wheel movement? using ROS Melodic and gazebo 9 using differential drive package to drive the robot. Thanks in advance.
See my wheel code below C:\fakepath\Screenshot from 2020-02-18 15-21-06.png
See my differential drive controller code C:\fakepath\Screenshot from 2020-02-18 15-22-57.png
Asked by arvind on 2020-02-17 06:58:04 UTC
Answers
Just make sure that the center of the wheel links is on the wheel axis, and then adjust the wheel joint poses.
Asked by nlamprian on 2020-02-17 12:06:01 UTC
Comments
I added screenshot of my codes. please have a look.
Asked by arvind on 2020-02-18 04:44:30 UTC
Start by updating the origins in the link
<origin xyz="0 0 0" rpy="1.5707 0 0" />
and the origin and axis in the joint
<origin xyz="${wheel_x} 0.11 0.025" rpy="0 0 0" />
<axis xyz="0 1 0" />
Asked by nlamprian on 2020-02-18 08:24:31 UTC
I tried both. and when I am changing joint origin from 0 0 0 then in gazebo the wheels are getting dislocated from its original place but in rviz it's showing correctly.
Asked by arvind on 2020-02-20 04:52:45 UTC
Is the model spawned above the ground?
Asked by nlamprian on 2020-02-20 09:41:52 UTC
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