gazebo_mecanum_plugins
gazebo_mecanum_plugins copied to clipboard
Published
20 hours ago •
qaz9517532846
qaz9517532846
How to use this plugin for my own xacro file?
hello. I would like to use your plugin to use 4 mecanum wheeled robot in gazebo. However, ththat the odom topic is invisible. Are there any other works I should take?
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OS: ubuntu 20.04
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ros2 foxy
mecanum.urdf.xacro
<?xml version="1.0" ?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="mecanum">
<!-- <xacro:include filename="$(find mecanum_description)/urdf/materials.xacro" /> -->
<xacro:include filename="$(find mecanum_description)/urdf/mecanum_gazebo.xacro" />
<link name="base_footprint"></link>
<joint name="base_link_joint" type="fixed">
<origin xyz="0 0 0.05" rpy="0 0 0" />
<parent link="base_footprint"/>
<child link="base_link" />
</joint>
<link name="base_link">
<inertial>
<origin xyz="-0.15000000000002084 -0.06797027234125849 0.0355880237291439" rpy="0 0 0"/>
<mass value="8.777128082724442"/>
<inertia ixx="0.030708" iyy="0.085311" izz="0.102783" ixy="0.0" iyz="-0.0" ixz="-0.0"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find mecanum_description)/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="steel_satin"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find mecanum_description)/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="Mecanum_Wheel_Assembly_Right-r4_1">
<inertial>
<origin xyz="-1.5129569133368048e-05 0.026870032144622125 5.42477174292344e-11" rpy="0 0 0"/>
<mass value="0.9525240556329165"/>
<inertia ixx="0.000492" iyy="0.000705" izz="0.000492" ixy="-0.0" iyz="0.0" ixz="0.0"/>
</inertial>
<visual>
<origin xyz="0.045 -0.01003 -0.03" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find mecanum_description)/meshes/Mecanum_Wheel_Assembly_Right-r4_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="steel_satin"/>
</visual>
<collision>
<origin xyz="0.045 -0.01003 -0.03" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find mecanum_description)/meshes/Mecanum_Wheel_Assembly_Right-r4_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="Mecanum_Wheel_Assembly_Left-r4_2">
<inertial>
<origin xyz="-1.5036421291282631e-05 -0.026897988073681378 8.703700954404425e-11" rpy="0 0 0"/>
<mass value="0.9584295019990953"/>
<inertia ixx="0.000493" iyy="0.000706" izz="0.000493" ixy="0.0" iyz="-0.0" ixz="-0.0"/>
</inertial>
<visual>
<origin xyz="0.045 0.14597 -0.03" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find mecanum_description)/meshes/Mecanum_Wheel_Assembly_Left-r4_2.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="steel_satin"/>
</visual>
<collision>
<origin xyz="0.045 0.14597 -0.03" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find mecanum_description)/meshes/Mecanum_Wheel_Assembly_Left-r4_2.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="Mecanum_Wheel_Assembly_Left-r4_1">
<inertial>
<origin xyz="-8.703737730542116e-11 0.02689744339116402 1.5036421291140384e-05" rpy="0 0 0"/>
<mass value="0.9584295019990953"/>
<inertia ixx="0.000493" iyy="0.000706" izz="0.000493" ixy="-0.0" iyz="0.0" ixz="-0.0"/>
</inertial>
<visual>
<origin xyz="0.255 -0.01003 -0.03" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find mecanum_description)/meshes/Mecanum_Wheel_Assembly_Left-r4_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="steel_satin"/>
</visual>
<collision>
<origin xyz="0.255 -0.01003 -0.03" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find mecanum_description)/meshes/Mecanum_Wheel_Assembly_Left-r4_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="Mecanum_Wheel_Assembly_Right-r4_2">
<inertial>
<origin xyz="-1.5129572465022445e-05 -0.026870576827139225 -5.3343097300428965e-11" rpy="0 0 0"/>
<mass value="0.9525240556329165"/>
<inertia ixx="0.000492" iyy="0.000705" izz="0.000492" ixy="0.0" iyz="0.0" ixz="-0.0"/>
</inertial>
<visual>
<origin xyz="0.255 0.14597 -0.03" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find mecanum_description)/meshes/Mecanum_Wheel_Assembly_Right-r4_2.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="steel_satin"/>
</visual>
<collision>
<origin xyz="0.255 0.14597 -0.03" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find mecanum_description)/meshes/Mecanum_Wheel_Assembly_Right-r4_2.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<joint name="wheel_fl" type="continuous">
<origin xyz="-0.045 0.01003 0.03" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="Mecanum_Wheel_Assembly_Right-r4_1"/>
<axis xyz="0.0 1.0 0.0"/>
</joint>
<joint name="wheel_fr" type="continuous">
<origin xyz="-0.045 -0.14597 0.03" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="Mecanum_Wheel_Assembly_Left-r4_2"/>
<axis xyz="0.0 1.0 0.0"/>
</joint>
<joint name="wheel_bl" type="continuous">
<origin xyz="-0.255 0.01003 0.03" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="Mecanum_Wheel_Assembly_Left-r4_1"/>
<axis xyz="0.0 1.0 0.0"/>
</joint>
<joint name="wheel_br" type="continuous">
<origin xyz="-0.255 -0.14597 0.03" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="Mecanum_Wheel_Assembly_Right-r4_2"/>
<axis xyz="0.0 1.0 0.0"/>
</joint>
</robot>
'mecanum_gazebo.xacro
<?xml version="1.0" ?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="mecanum">
<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_bl</LeftRear>
<LeftFront>wheel_fl</LeftFront>
<RightFront>wheel_fr</RightFront>
<RightRear>wheel_br</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>true</publishOdom>
<isRollerModel>true</isRollerModel>
</plugin>
</gazebo>
</robot>
