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tu-darmstadt-ros-pkg / hector_gazebo

hector_gazebo provides packages related to the simulation of robots using gazebo (gazebo plugins, world files etc.).
http://www.ros.org/wiki/hector_gazebo
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Add movement support for holonomic robots #31

Closed maxsvetlik closed 8 years ago

maxsvetlik commented 8 years ago

The current plugin only supports differential motion in the X direction and does not publish odometry information in the Y. For holonomic robots, movement in both directions simultaneously is common.

This PR adds the ability for simultaneous X/Y motion and Y motion.

tonybaltovski commented 8 years ago

@maxsvetlik Thanks for this. I am going to pull it into our ridgeback_simulator. How come you closed the PR?

maxsvetlik commented 8 years ago

I closed this PR once I realized that the solution it offers is not very stable. While it allows Y-motion odometry to be published, it is not very accurate. This is because the transformation used to compute the odometry information does not account for this additional Y-motion.

In 2D simulation, this resulted in laser scan shifts that did not recover over time.