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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

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

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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

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

nlamprian

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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.

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

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

Is the model spawned above the ground?

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

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

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Last updated: Feb 18 '20

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 edit

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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