Trying to replicate the ackermann steering from DRCSim
Hello,
I have Gazebo 1.9, ROS Hydro, and DRCSim installed on Ubuntu 12.04. I wanted to get ackermann steering working on the gazebo vehicle model that I built and at first I tried setting up the physical joints but I couldn't get that to work. So instead I'm now working on trying to replicate (copy, paste and compile) the appropriate plugins from DRCSim: DRCVehiclePlugin.cc , DRCVehicleROSPlugin.cpp , VRCPlugin.cpp. In order to get this working I'm using the drcvehiclexp900 (polaris ranger xp900) in my own test package. When I start roslaunch, I make sure to do it with the cheats enabled and yet I still can't get the steering wheel to connect with the wheels for ackermann steering (steering wheel can just spin on it's own, unlike when I run drcsim). I also made sure to change all of the include directories in the files so that they're no longer attributed to drcsim but instead my new test package.
I know there's a lot of code involved, but just with what I've said so far, do I need any other plugins from drcsim besides the above-mentioned 3 in order to make this work (I don't care about the Atlas, valve, etc. parts)?
Thank you
