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How to simulate a mecanum wheel in Gazebo?


All my technical problems are hopefully behind me. I can now address core simulation questions.

The robot I'm working on (youBot) is equipped with "mecanum wheels". I did not this kind of wheel before. They allow the mobile platform to move in any direction.

The URDF files I found have implemented this part with simple wheels and casters. This is far from the real moves of the youBot, which "glides" on the ground.

Any idea of how to simulate this kind of wheels with a simplified model? (I guess that simulating the full dynamics of the wheel will be too heavy )