Gazebo | Ignition | Community
Ask Your Question

The wheels of my two-wheeled robot is revoluting around the robot instead of rotating. Can anyone spot any error in it? Video Link:

asked 2020-02-17 05:58:04 -0600

this post is marked as community wiki

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

I made a 2 wheel robot in urdf and simulating using ROS in gazebo. 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

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2020-02-17 11:06:01 -0600

updated 2020-02-17 13:03:08 -0600

Just make sure that the center of the wheel links is on the wheel axis, and then adjust the wheel joint poses.

edit flag offensive delete link more


I added screenshot of my codes. please have a look.

arvind gravatar imagearvind ( 2020-02-18 03:44:30 -0600 )edit

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" />
nlamprian gravatar imagenlamprian ( 2020-02-18 07:24:31 -0600 )edit

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.

arvind gravatar imagearvind ( 2020-02-20 03:52:45 -0600 )edit

Is the model spawned above the ground?

nlamprian gravatar imagenlamprian ( 2020-02-20 08:41:52 -0600 )edit

Question Tools

1 follower


Asked: 2020-02-17 05:58:04 -0600

Seen: 284 times

Last updated: Feb 18 '20