search

lgsvl / simulator

A ROS/ROS2 Multi-robot Simulator for Autonomous Vehicles
Other
2.24k stars 769 forks source link

Differential drive robot simulation #1575

Open TimeEscaper opened 3 years ago

TimeEscaper commented 3 years ago

Dear SVL team,

Thank you for developing and maintaining awesome software! We are looking at your simulator for our new research, and thus I have a question: is it possible to simulate a differential drive (or 4-wheel skid steering) robot? We have a URDF model of our robot, and I saw tutorials on importing new vehicles in simulation, but does the simulator support such control scheme?

Thank you in advance!

EricBoiseLGSVL commented 3 years ago

We are working on supporting that right now. We are developing a NAV2 bridge and sensors for robotics. We updated Unity to utilize the new robotics joints called Articulation Bodies, see here. The latest release 2021.2 is using 2020.3.3f1 so this feature is supported. Glad you are enjoying the software, it has been fun to work on. :)