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wheels takes position with reference to the base_footprint instead of base_link , though its parent link is base_link

<link name="right_wheel"> <visual>

    <origin xyz="0 0 0" rpy="1.57 0 0"/>
    <geometry>
      <cylinder radius="0.027" length="0.016"/>
    </geometry>
  <material name="black"/>
  </visual>
  <collision>
    <origin xyz="0 0 0" rpy="1.57 0 0"/>
    <geometry>
      <cylinder radius="0.027" length="0.016"/>
    </geometry>
  </collision>
  <xacro:cylinder_inertia m="5" r="0.027" h="0.016"/>

</link> <joint name="right_wheel_joint" type="continuous"> <axis xyz="0 1 0" rpy="0 0 0"/> <parent link="base_link"/> <child link="right_wheel"/> <origin xyz="0 -0.1105 0" rpy="0 0 0"/> </joint>