Gazebo simulation- Wheels of SUMMIT XL robot not rotating in gazebo

[Eswar1991]

We are trying to move the summit xl robot in straight line in gazebo. Although the robot moves, the wheel doesn't rotate. The following errors pop up whenever we launch the corresponding launch file.

It seems the yaml file misses the pid parameters for wheel joints. Although we tried to give the PID parameters to these joints, still the error persists and the wheels are not rotating.

Any help for this issue would be appreciated. Thanks

[RomanRobotnik]

Hi,

I guess you are running the simulation from sources.

Recently we disabled by default the use of the DiffDriveController plugin because we were not getting the desired behaviour, and we set by default use of the ros_planar.

In case you want to run the simulation by enabling the DiffDriveController you can run it with the argument ros_planar_move_plugin:=false.

roslaunch summit_xl_sim_bringup summit_xl_complete.launch ros_planar_move_plugin:=false

[Eswar1991]

Thank you for your reply. We also figured out the same. Thank you once again.

On Tue, May 26, 2020, 7:44 PM Román Navarro García notifications@github.com wrote:

Hi,

I guess you are running the simulation from sources.

Recently we disabled by default the use of the DiffDriveController plugin because we were not getting the desired behaviour, and we set by default use of the ros_planar.

In case you want to run the simulation by enabling the DiffDriveController you can run it with the argument ros_planar_move_plugin:=false.

roslaunch summit_xl_sim_bringup summit_xl_complete.launch ros_planar_move_plugin:=false

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[Eswar1991]

One quick doubt is that where is the ros planar plugin argument is linked to ros planar controller? We are unable to find out that link.

On Tue, May 26, 2020, 7:44 PM Román Navarro García notifications@github.com wrote:

Hi,

I guess you are running the simulation from sources.

Recently we disabled by default the use of the DiffDriveController plugin because we were not getting the desired behaviour, and we set by default use of the ros_planar.

In case you want to run the simulation by enabling the DiffDriveController you can run it with the argument ros_planar_move_plugin:=false.

roslaunch summit_xl_sim_bringup summit_xl_complete.launch ros_planar_move_plugin:=false

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[RomanRobotnik]

It is linked at URDF model description level as a xacro. All the summit_xl bases share the summit_xl_base.gazebo.xacro

Then, in the main robot.xacro we have an argument to include it.

And finally, in the gazebo one_robot launch we pass the argument here:

<param name="robot_description" command="$(find xacro)/xacro '$(find summit_xl_description)/robots/$(arg xacro_robot)' prefix:=$(arg prefix) **ros_planar_move_plugin:=$(arg ros_planar_move_plugin)** omni_wheels:=$(arg omni_drive) --inorder"/>

Hope it helps!

[Eswar1991]

Great got it. Thanks for your prompt response.

On Tue, May 26, 2020, 8:02 PM Román Navarro García notifications@github.com wrote:

It is linked at URDF model description level as a xacro. All the summit_xl bases share the summit_xl_base.gazebo.xacro https://github.com/RobotnikAutomation/summit_xl_common/blob/kinetic-devel/summit_xl_description/urdf/bases/summit_xl_base.gazebo.xacro

Then, in the main robot.xacro https://github.com/RobotnikAutomation/summit_xl_common/blob/kinetic-devel/summit_xl_description/robots/summit_xl_std.urdf.xacro we have an argument to include it.

And finally, in the gazebo one_robot launch https://github.com/RobotnikAutomation/summit_xl_sim/blob/kinetic-devel/summit_xl_gazebo/launch/summit_xl_one_robot.launch we pass the argument here:

Hope it helps!

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[Eswar1991]

We are trying to simulate a custom path movement of summit xl in gazebo, and perform them on real-world using the robot.

That's why we are using the differential control drive.. is it recommended to proceed with gazebo.? And why desired behavior is not expected with differential drive controller in gazebo?

As we didn't find wheel rotation in ros planar, we enabled the differential drive controller plugin. If possible, Can you please explain the reason for not using differential drive controller plugin by default?

On Tue, May 26, 2020, 7:44 PM Román Navarro García notifications@github.com wrote:

Hi,

I guess you are running the simulation from sources.

Recently we disabled by default the use of the DiffDriveController plugin because we were not getting the desired behaviour, and we set by default use of the ros_planar.

In case you want to run the simulation by enabling the DiffDriveController you can run it with the argument ros_planar_move_plugin:=false.

roslaunch summit_xl_sim_bringup summit_xl_complete.launch ros_planar_move_plugin:=false

— You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub https://github.com/RobotnikAutomation/summit_xl_sim/issues/26#issuecomment-634051921, or unsubscribe https://github.com/notifications/unsubscribe-auth/AEBFU2CAH6VXAXS5BRJIIUDRTPFEDANCNFSM4NJIZJEA .