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differential drive caster wheel problem

asked 2014-02-01 08:43:10 -0500

Andrea gravatar image

updated 2014-02-05 09:58:38 -0500

Hello, I am trying to build a sdf model of a differential drive, but I am having some issues. The problems are caused by the caster wheel joint.

Here is the sdf code:

<link name="caster_wheel">
  <pose>0.045 0 -0.0528 0 -0 0</pose>

  <collision name="caster_wheel_geom">
      <fdir1> 0 0 0</fdir1>

  <visual name="caster_wheel_geom_visual">
<pose> 0 0 0 0 -0 0</pose>

<joint name="caster_joint" type="revolute">
      <pose>0 0 0 0 -0 0</pose>
    <xyz>0 1 0</xyz>

before starting the simulation, everything looks normal:


the caster wheel is the front yellow sphere. Right after clicking on the play button of gazebo this happens:


I tried to understand what is wrong, but I can't see any problem.

Thank you


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answered 2014-02-05 12:59:02 -0500

Andrea gravatar image

updated 2014-09-09 07:15:29 -0500

In this tutorial is said not to use joints because they may provoke problems to the simulator due to the constraints they put on the physics engine. I moved everything to the main body and removed the joint. Now everything works smoothly.

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Asked: 2014-02-01 08:43:10 -0500

Seen: 2,490 times

Last updated: Sep 09 '14