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gazebo_mecanum_plugins package from gazebo_mecanum_plugins repo

gazebo_mecanum_plugins

ROS Distro
github

Package Summary

Tags	No category tags.
Version	0.0.0
License	TODO: License declaration
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Gazebo Plugin for the mobile robot using four mecanum wheel.
Checkout URI	https://github.com/qaz9517532846/gazebo_mecanum_plugins.git
VCS Type	git
VCS Version	ros2-foxy
Last Updated	2022-01-23
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	simulation ros gazebo mecanum-drive
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

TODO: Package description

Additional Links

No additional links.

Maintainers

gyro

Authors

No additional authors.

README.md

gazebo_mecanum_plugins

gazebo_mecanum_plugins is Gazebo plugins for mecanum driving.

Built with

ROS Foxy under Ubuntu 20.04 LTS

Getting Started

Installation

``` $ sudo apt-get install ros-foxy-gazebo-ros-pkgs ros-foxy-gazebo-ros-control ros-foxy-ros-controllers

    

``` $ sudo apt-get install -y libgazebo11-dev

``` $ sudo apt-get install -y gazebo11

    
### How to using a gazebo_mecanum_plugins into xacro file.


``` bash
<gazebo>
      <plugin name="gazebo_ros_mecanum_diff_drive" filename="libgazebo_ros_mecanum_diff_drive.so">
        <commandTopic>cmd_vel</commandTopic>
        <odometryTopic>odom</odometryTopic>
        <odometryFrame>odom</odometryFrame>
        <robotBaseFrame>base_footprint</robotBaseFrame>
        <LeftRear>wheel_joint_1</LeftRear>
        <LeftFront>wheel_joint_2</LeftFront>
        <RightFront>wheel_joint_3</RightFront>
        <RightRear>wheel_joint_4</RightRear>
        <odometryRate>20</odometryRate>      
        <publishWheelTF>true</publishWheelTF>
        <publishWheelJointState>true</publishWheelJointState>
        <WheelTorque>1</WheelTorque>
        <WheelSeparationW>0.5</WheelSeparationW>
        <WheelSeparationL>0.6</WheelSeparationL>
        <wheelAccel>5</wheelAccel>
        <wheelDiameter>0.13</wheelDiameter>
        <publishOdom>false</publishOdom>
        <isRollerModel>true</isRollerModel>
      </plugin>
</gazebo>

Using gazebo mecanum plugins PID drive

<gazebo>
    <plugin name="zm_robot_diff_drive" filename="libgazebo_mecanum_pid_drive.so">
      <commandTopic>cmd_vel</commandTopic>
      <odometryTopic>odom</odometryTopic>
      <odometryFrame>odom</odometryFrame>
      <robotBaseFrame>base_footprint</robotBaseFrame>
      <LeftRear>wheel_joint_1</LeftRear>
      <LeftFront>wheel_joint_2</LeftFront>
      <RightFront>wheel_joint_3</RightFront>
      <RightRear>wheel_joint_4</RightRear>
      <odometryRate>20</odometryRate>      
      <publishWheelTF>false</publishWheelTF>
      <publishOdomTF>true</publishOdomTF>
      <WheelTorque>30</WheelTorque>
      <WheelSeparationW>0.5</WheelSeparationW>
      <WheelSeparationL>0.6</WheelSeparationL>
      <wheelAccel>10</wheelAccel>
      <wheelDiameter>0.13</wheelDiameter>
      <publishOdom>true</publishOdom>
      <isRollerModel>true</isRollerModel>
      <!--PID Controller Parameter-->
      <Wheel_LR_P>10.0</Wheel_LR_P>
      <Wheel_LR_I>0.0</Wheel_LR_I>
      <Wheel_LR_D>0.0</Wheel_LR_D>
      <Wheel_LF_P>10.0</Wheel_LF_P>
      <Wheel_LF_I>0.0</Wheel_LF_I>
      <Wheel_LF_D>0.0</Wheel_LF_D>
      <Wheel_RF_P>10.0</Wheel_RF_P>
      <Wheel_RF_I>0.0</Wheel_RF_I>
      <Wheel_RF_D>0.0</Wheel_RF_D>
      <Wheel_RR_P>10.0</Wheel_RR_P>
      <Wheel_RR_I>0.0</Wheel_RR_I>
      <Wheel_RR_D>0.0</Wheel_RR_D>
    </plugin>
</gazebo>

Reference

[1]. gazebo_ros_pkgs, https://github.com/ros-simulation/gazebo_ros_pkgs

This repository is for your reference only. copying, patent application, academic journals are strictly prohibited.

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	gazebo_dev
	gazebo_msgs
	gazebo_ros
	rclcpp
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	geometry_msgs
	nav_msgs
	tf2_geometry_msgs
	tf2_ros

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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API Docs Browse Code

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