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I am working on two wheeled self balancing robot on ROS1. It has three parts, left_wheel, right_wheel, body. It is a mobile robot. It has two continuous joints at two wheels. . I am trying to rotate wheels in RViz using Joint state publisher gui. As my robot is mobile robot, I think there should not be any fixed frame in RViz. . Though model is loaded in RViz, controlling the gui slider does not make any difference on the wheels or body. . Is it really possible to use Joint state publisher gui to visualize motion in case of mobile robots? If so, am I missing any point?

If you need any file or anything to comment on any improvement please let me know.

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You haven't specified your ROS distribution.

For ROS 2: In principle this should work.

have a look at the diffbot example of ros2_control, I just found a tiny bug: Use ros2 launch ros2_control_demo_example_2 view_robot.launch.py from this PR.

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  • $\begingroup$ I am using ROS1. When I import in Gazebo and simulate, the self balancing robot falls down as expected and wheel movement is visible. $\endgroup$
    – Mahmud8248
    Nov 15 at 14:41

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