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Hello,

I'm trying to make a model of my own robot and plugins. However, I can't drive the robot. Moreover,the information is not being published into /gz/cmd_vel or /gazebo/cmd_vel or /gz/odom topics.

Here is the header of my model.sdf

<?xml version="1.0" ?>
<sdf version="1.4">
  <model name="myrobot">
    <link name="chassis">
      <pose>0 0 .1 0 0 0</pose>

Here are the plugins of my model.sdf

<plugin name="modelplugin" filename="libmyrobot_sonar_model_plugin.so"/>
<plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so">
            <alwaysOn>true</alwaysOn>
            <updateRate>10</updateRate>
            <leftJoint>left_wheel_hinge</leftJoint>
            <rightJoint>right_wheel_hinge</rightJoint>
            <wheelSeparation>0.5380</wheelSeparation>
            <wheelDiameter>0.2410</wheelDiameter>
            <torque>20</torque>
            <commandTopic>cmd_vel</commandTopic>
            <odometryTopic>odom</odometryTopic>
            <odometryFrame>odom</odometryFrame>
            <robotBaseFrame>base_footprint</robotBaseFrame>
            <robotNamespace>gz</robotNamespace>
 </plugin>
    ...

I don't understand these parameters, anything else except seems right for my robot. Can anybody explain what should I write in robotBaseFrame tag.

What should I to drive the robot? Do I need any other plugin? Any answer will be much appreciated.


Originally posted by mozcelikors on ROS Answers with karma: 181 on 2013-07-24

Post score: 0

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1 Answer 1

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-update rate -> frequency in (Hz) of publishing by the plugin
-leftJoint -> specify the name of the joint connecting left wheel of your differential drive robot to the chassis
-wheelSeparation -> distance between the 2 wheels in a diff drive robot -commandTopic ->name of the
-topic on which you can publish the linear and angular velocity of the robot
-odometryTopic -> Topic on which you can subscribe to the
-odometry data. robotNameSpace -> (generally the name of the robot... i am not sure)


Originally posted by keshav_sarraf with karma: 66 on 2014-06-24

This answer was ACCEPTED on the original site

Post score: 1


Original comments

Comment by Sidd on 2015-08-19:
Hi! Can you confirm that the wheelSeparation is specified in meters?

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