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Hi

I'm trying to simulate in gazebo a 6-wheeled robot and I'd like to control each wheel independently. I've tried with skid_steer_controller (but I'm afraid that's only for 4 wheels) and with diff_drive_controller (but the problem is that each pair of wheels works in the same way, and I want ALL the wheels to run independently...) Is there any other controller useful for my case? Or at least, is there any ros_package of a 6-wheeled robot example(similar for example to r-hex robot ?

I'm using ros indigo

Thanks a lot!!


Originally posted by ROS_GAZEBO_USER on Gazebo Answers with karma: 15 on 2015-08-20

Post score: 1

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2 Answers 2

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There is a 6 wheel plugin and a generalized multi wheel plugin as parts of hector_gazebo_plugins. Those do not permit actuating the axis independently, but could be modified to do so. Note they are gazebo ROS plugins and not plain gazebo ones.

A usage example is available here starting in line 130.


Originally posted by Stefan Kohlbrecher with karma: 473 on 2015-09-04

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I don't know of any gazebo plugin designed for a 6-wheeled vehicle. Fortunately, it's very easy to write your own plugin. You can start by copying the skid steer or diff drive plugin.

There are lots of tutorials, and examples.


Originally posted by nkoenig with karma: 7676 on 2015-08-20

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