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I want use the rviz and urdf to simulate the differential_drive robot , and now I have got the robot model and can show in the rviz. I can publish the cmd_vel to let the robot move ,but here is the problem : that I move the robot just change the entire robot's velocity and orientation , but I want to give the individual wheel speed to receive the same goal ,so what can I do ? please give me a hand. Thank u very much!


Originally posted by Tomas yuan on ROS Answers with karma: 56 on 2017-02-19

Post score: 0


Original comments

Comment by gvdhoorn on 2017-02-19:
RViz is not a simulator. It is a visualisation tool. If you want to simulate dynamics, use Gazebo or V-REP or a similar tool.

Comment by Tomas yuan on 2017-02-19:
so if I use the Gazebo,how can I move the robot by changing the individual wheel's velocity ?

Comment by Tomas yuan on 2017-02-19:
thank u very much ! :)

Comment by Tomas yuan on 2017-02-20:
hello, sorry to disturb you again , I read the diff_drive_controller code in the github ,but have some problem with speed_limiter.cpp. I have been quiet confused with the "SpeedLimiter::limit(double& v, double v0, double v1, double dt)", how dose it work ?

Comment by gvdhoorn on 2017-02-20:
I did not write that code, so I can't answer you right now. I'd advise you to open a new question.

Comment by Tomas yuan on 2017-02-20:
ok,thank u

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It's up to you, but I'd look at gazebo_ros_control in combination with the diff_drive_controller.

re: individual wheel velocity: that's not how we typically control mobile bases, but if you want, even that would be possible.


Originally posted by gvdhoorn with karma: 86574 on 2017-02-19

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