SkidSteerDrivePlugin
Hi all,
I'm trying to work with new skid steering drive plugin and URDF model of Pioneer 3AT. I included plugin to my URDF file, but still getting:
Error [Param.hh:249] Unable to set value [-nan -nan -nan 0 -0 0] for key[pose]
Error [Param.hh:249] Unable to set value [-nan] for key[ixx]
Error [Param.hh:249] Unable to set value [nan] for key[ixy]
Error [Param.hh:249] Unable to set value [-nan] for key[ixz]
Error [Param.hh:249] Unable to set value [-nan] for key[iyy]
Error [Param.hh:249] Unable to set value [-nan] for key[iyz]
Error [Param.hh:249] Unable to set value [nan] for key[izz]
Error [SkidSteerDrivePlugin.cc:51] Unable to find the right_front joint in model pioneer3at.
Error [SkidSteerDrivePlugin.cc:51] Unable to find the right_rear joint in model [INFO] [WallTime: 1372089505.447163] [0.489000] Spawn status: SpawnModel: Successfully spawned model
pioneer3at.
Error [SkidSteerDrivePlugin.cc:51] Unable to find the left_front joint in model pioneer3at.
Error [SkidSteerDrivePlugin.cc:51] Unable to find the left_rear joint in model pioneer3at.
This is how I included plugin:
<gazebo>
<plugin name="SkidSteerDrivePlugin" filename="libSkidSteerDrivePlugin.so">
<right_front>p3at_front_right_wheel_joint</right_front>
<right_rear>p3at_back_right_wheel_joint</right_rear>
<left_front>p3at_front_left_wheel_joint</left_front>
<left_rear>p3at_back_left_wheel_joint</left_rear>
<max_force>5.0</max_force>
</plugin>
</gazebo>
ROS Groovy, Gazebo 1.8.6 compiled from source as well as gazeborospkgs.
I just briefly checked code of plugin and I'm not sure, but it looks like it searches for joints named "right_front" etc. and not for joints defined by these parameters. Am I right? Or could it be somehow related with NaN errors?
Thanks in advance.
Btw, what is prefered way to control robot from ROS? Use "pure" Gazebo plugin and ROS node for translating communication between Gazebo/ROS, or Gazebo plugin like those in gazeborospkgs? Second option looks better for me - are there any disadvantages?