How to simulate non-traditional Single Joint Front Steering

I'm trying to model a robot I have in gazebo to simulate, but I'm running into one problem. I'm not entirely sure what plugin to use for controlling the steering.

This particular platform is 4-wheel drive, with a front steering arm connecting the two front wheels. To turn, a motor rotates the steering arm. The front wheels are always orthogonal to each other and connected inline, and the same for the back wheels, with the steering just changing the angle between the front and rear wheel axes.

I've had trouble searching for appropriate plugins or tutorials because I can't even figure out what this style of steering is called.

Image of URDF model with front steering

Any help would be appreciated, including suggestions for a plugin to use or even just the name of this style of steering.

Asked by luckierdodge on 2022-08-16 11:13:35 UTC

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Answers

Ah, I've figured it out! It turns out, the joint about which the front steering arm is pivoting is not actually motorized, it's just freely rotating. Which means this is actually just skid steer with extra steps, and I think I should be able to use the skid steer controller without too much issue.

Asked by luckierdodge on 2022-08-16 22:37:42 UTC