四轮差分驱动平台gazebo插件
作者:互联网
转载自:http://gazebosim.org/tutorials?tut=ros_gzplugins#AddingaModelPlugin
<gazebo>
<plugin name="skid_steer_drive_controller" filename="libgazebo_ros_skid_steer_drive.so">
<updateRate>100.0</updateRate>
<robotNamespace>/</robotNamespace>
<leftFrontJoint>front_left_wheel_joint</leftFrontJoint>
<rightFrontJoint>front_right_wheel_joint</rightFrontJoint>
<leftRearJoint>back_left_wheel_joint</leftRearJoint>
<rightRearJoint>back_right_wheel_joint</rightRearJoint>
<wheelSeparation>0.4</wheelSeparation>
<wheelDiameter>0.215</wheelDiameter>
<robotBaseFrame>base_link</robotBaseFrame>
<torque>20</torque>
<topicName>cmd_vel</topicName>
<broadcastTF>false</broadcastTF>
</plugin>
</gazebo>
标签:wheel,插件,right,back,差分,joint,front,gazebo,left 来源: https://blog.csdn.net/ustcyr/article/details/118557140