Closed alexdewar closed 5 years ago
Hi there.
You're welcome!
It never occurred to me that something like this would be wanted by someone, so I can't give you a definite answer, but I suppose it should be possible.
If you're working with the Gazebo version, I think all it takes is to change the plugin code to call *Joint->GetJoint("roller_joint_name");
to get a reference to each roller, then you can set their velocities in the same way.
If you're working with the ROS version, you'll have to:
.urdf.xacro
files to add <transmission>
tags to each roller;config/joint_velocity.yaml
to add a controller to each roller joint;msg
to define how you will control them;src/main.cpp
to answer to the messages above.Quite a bit of work, but should be possible.
If you still have questions, feel free to ask them. Otherwise, remember to close the issue when you've accomplished your objective.
Yeah this is a somewhat strange request, motivated by my lack of understanding of how Mecanum wheels actually work :wink:
Thanks for your extensive reply anyway though!
Currently it seems like you can only set the forward velocities for each of the three wheels, but not the rollers. I'm working with a robot that has Mecanum wheels and it would be really great if I could figure out how to simulate this aspect of it.
Thanks for publishing all this code!