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lucasw / simple_sim_ros

Minimally featured but fast ROS physics simulation wrapping bullet
GNU General Public License v3.0
43 stars 11 forks source link

Tracked vehicles #7

Closed lucasw closed 7 years ago

lucasw commented 7 years ago

This is using bullet in Lightwave: https://www.youtube.com/watch?v=_ZJcwLoN7wI

I assume there are going to be n rigid bodies that have joints between them to join them in a loop- the joints could be a single rotation joint, or a 2-axis rotation joint to allow a little swiveling between the tracks. More advanced would be to allow some stretching.

Does there need to be a physics sim of the interlocking between the drive wheels and the inside of the tracks? Otherwise how are the tracks driven?

How are the tracks kept on the wheels? Wheels with larger OD cylinders that keep the tracks from slipping off could be used.

http://answers.ros.org/question/249874/tracked-robot-gazebo-ros/

http://answers.ros.org/question/10410/simulating-a-track-driven-robot/

lucasw commented 7 years ago

https://www.youtube.com/watch?v=lYB8zXb6O_I

lucasw commented 7 years ago

FIXED constraints need fixing for this.