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Ackermann steering in Gazebo 1.9


I’m using Gazebo 1.9 and I’d like to model an Ackermann steering. I’ve started with the URDF model and I’m having problems with the parallel kinematics because URDF doesn’t support it. Is there any way to do this using URDF and Gazebo 1.9? And is there any plugin to use with an Ackermann steering?

Thanks in advanced!