How to visualise under-actuated joints in rviz?

asked 2021-01-15 07:41:30 -0500

I am working on a project where I have attached a custom-designed four-wheel cart on the rear axle of the Clearpath Robotics Ridgeback robot. I have two problems -

  1. The cart is attached with an underactuated continuous joint of which the value/position can be changed using the joint_state_publisher, but when the robot-trailer system is moved, the change in the orientation as in Gazebo is not reflected/visualized in rviz. The same problem exists with the wheels of the cart which are also underactuated. How do I get them visualized as their state changes in Gazebo?

  2. The cart keeps drifting about its hitch axis on its own when the robot is moved. I tried adding weight/payload on the cart but it didn't make a difference. I did set the coefficients of friction to zero as the robot model also had them set to zero. I'm not able to figure out the appropriate setup which can solve this problem.

Here are some pictures of the system I am using -

Please help me solve these problems. Thank You.

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