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gazebo_sim
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Can tracks and wheels of the Bunker URDF rotate in rviz or gazebo? #20

Open djf007 opened 1 year ago

djf007 commented 1 year ago

Can tracks and wheels of the Bunker rotate in rviz or gazebo? Thanks!

bascetta74 commented 1 year ago

Did you find a way to move tracks? Wheels rotate if bunker is tip over (but not tracks), if tracks touch the ground nothing moves. Thanks!

djf007 commented 1 year ago

Did you find a way to move tracks? Wheels rotate if bunker is tip over (but not tracks), if tracks touch the ground nothing moves. Thanks! No, I can't find a way to solve this problem. This should be caused by its model files.

bascetta74 commented 1 year ago

I agree, there is a mistake in the original model. We are working on that... if you are using ROS1 there is a simple solution, in gazebo 8 and 11 you can find an example of a simple tracked vehicle that can be used to correct the original Bunker model (https://answers.ros.org/question/249874/tracked-robot-gazebo-ros/), and you can directly use this plugin https://github.com/lprobsth/gazebo_ros_tracked_vehicle_interface that supports the kinematics of tracked vehicles.

Unfortunately, no porting of that plugin for ROS2 exists... but we are working on it. Regards, Luca Bascetta

Luca Bascetta, PhD. Associate Professor Chair of the Agricultural Engineering Study Programme

Politecnico di Milano @.*** bascetta.deib.polimi.ithttp://bascetta.deib.polimi.it

[cid:ef5ef52b-5bc4-4adf-8efd-23a79f3fa1fa]

Da: djf007 @.> Inviato: martedì 28 novembre 2023 09:25 A: agilexrobotics/ugv_gazebo_sim @.> Cc: Luca Bascetta @.>; Comment @.> Oggetto: Re: [agilexrobotics/ugv_gazebo_sim] Can tracks and wheels of the Bunker URDF rotate in rviz or gazebo? (Issue #20)

Did you find a way to move tracks? Wheels rotate if bunker is tip over (but not tracks), if tracks touch the ground nothing moves. Thanks! No, I can't find a way to solve this problem. This should be caused by its model files.

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