GazeboRosDiffDrive Plugin missing <legacyMode>

[mingfeisun]

When I was using the urdf files in pepper gazebo plugin, I found the following errors, which could make /tf publishing fails:

[ERROR] [1520845188.852631830]: GazeboRosDiffDrive Plugin missing <legacyMode>, defaults to true
This setting assumes you have a old package, where the right and left wheel are changed to fix a former code issue
To get rid of this error just set <legacyMode> to false if you just created a new package.
To fix an old package you have to exchange left wheel by the right wheel.
If you do not want to fix this issue in an old package or your z axis points down instead of the ROS standard defined in REP 103
just set <legacyMode> to true.

The corresponding solution to fix this is to change the Drive controller part in pepperGazebo.xacro as follows:

• Error version:

  <gazebo>
  <plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so">
  <alwaysOn>true</alwaysOn>
  <updateRate>100</updateRate>
  <robotNamespace>/</robotNamespace>
  <leftJoint>WheelFL</leftJoint>
  <rightJoint>WheelFR</rightJoint>
  <wheelSeparation>0.170</wheelSeparation>
  <wheelDiameter>0.140</wheelDiameter>
  <torque>36.9</torque>
  <commandTopic>cmd_vel</commandTopic>
  <odometryTopic>odom_diffdrive</odometryTopic>
  <odometryFrame>odom</odometryFrame>
  <robotBaseFrame>base_footprint</robotBaseFrame>
  </plugin>
  </gazebo>

• Corrected version:

  <gazebo>
  <plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so">
  <alwaysOn>true</alwaysOn>
  <legacyMode>false</legacyMode>
  <updateRate>100</updateRate>
  <robotNamespace>/</robotNamespace>
  <leftJoint>WheelFL</leftJoint>
  <rightJoint>WheelFR</rightJoint>
  <wheelSeparation>0.170</wheelSeparation>
  <wheelDiameter>0.140</wheelDiameter>
  <torque>36.9</torque>
  <commandTopic>cmd_vel</commandTopic>
  <odometryTopic>odom_diffdrive</odometryTopic>
  <odometryFrame>odom</odometryFrame>
  <odometrySource>world</odometrySource>
  <publishTf>1</publishTf>
  <rosDebugLevel>na</rosDebugLevel>
  <wheelAcceleration>0</wheelAcceleration>
  <wheelTorque>5</wheelTorque>
  <robotBaseFrame>base_link</robotBaseFrame>
  <publishWheelTF>false</publishWheelTF>
  <publishWheelJointState>false</publishWheelJointState>
  </plugin>
  </gazebo>

[grushety]

It didn't work for me. May be there are another solutions?

[nlyubova]

@mingfeisun could you do a PR to fix it ?

[mingfeisun]

Sure. I will make a PR.