6-wheeled robot in gazebo

asked 2015-08-20 03:50:35 -0500

ROS_GAZEBO_USER
15 ●10 ●11 ●12

Hi

I'm trying to simulate in gazebo a 6-wheeled robot and I'd like to control each wheel independently. I've tried with skidsteercontroller (but I'm afraid that's only for 4 wheels) and with diffdrivecontroller (but the problem is that each pair of wheels works in the same way, and I want ALL the wheels to run independently...) Is there any other controller useful for my case? Or at least, is there any ros_package of a 6-wheeled robot example(similar for example to r-hex robot ?

I'm using ros indigo

Thanks a lot!!

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answered 2015-08-20 09:16:08 -0500

nkoenig
7676 ●8 ●44 ●71 http://gazebosim.org/

I don't know of any gazebo plugin designed for a 6-wheeled vehicle. Fortunately, it's very easy to write your own plugin. You can start by copying the skid steer or diff drive plugin.

There are lots of tutorials, and examples.

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answered 2015-09-04 09:24:52 -0500

Stefan Kohlbrecher

473 ●15 ●19 ●29

There is a 6 wheel plugin and a generalized multi wheel plugin as parts of hector_gazebo_plugins. Those do not permit actuating the axis independently, but could be modified to do so. Note they are gazebo ROS plugins and not plain gazebo ones.

A usage example is available here starting in line 130.

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