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Wheel enoder in Gazebo

asked 2015-06-18 05:29:43 -0500

TJAN gravatar image

updated 2015-06-25 09:00:29 -0500

Hi,

What is the correct/best way to simulate wheel encoders in Gazebo and publish the results in a topic. The robot is based on the tutorials. What I want is to fuse the IMU data with the wheel enoder data with the ROS package robot_loalization.

Thanks!

EDIT: Thanks for your reply, I tried it and a few other ways, but can't get it to work.
How do I publish a message on a ROS topic? I tried:

  • [Taking parts from the IMU and Laser from] (https://github.com/ros-simulation/gazebo_ros_pkgs/tree/jade-devel/gazebo_plugins/src)
  • [Copy and edit this code](http://www.gazebosim.org/tutorials?tut=plugins_world_properties&cat=write_plugin)

Currently the plugin can be added to a model and it will be loaded and also updating works.But I can't publish to a topic and I didn't start yet on reading out the model. I use gazebo 2.2.3

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answered 2015-06-19 09:57:43 -0500

nkoenig gravatar image

The differential drive plugin is a good example and possible starting point.

You can write a model plugin that reads a joint angle, and then publish that information on a topic.

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Thanks for your reply, but can't get it to work. I edited the post with new information.

TJAN gravatar imageTJAN ( 2015-06-25 09:01:51 -0500 )edit
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Asked: 2015-06-18 05:29:43 -0500

Seen: 5,673 times

Last updated: Jun 25 '15