June 2018
Beginner to intermediate
280 pages
6h 58m
English
Content preview from Learning Robotics using Python - Second Edition
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Differential drive plugin
The differential drive plugin is the most important plugin of the simulation. This plugin simulates the differential drive behavior in the robot. It will move the robot model when it receives the command velocity (the linear and angular velocity) in the form of ROS Twist messages (geometry_msgs/Twist). This plugin also computes the odometry of the robot, which gives the local position of the robot, as shown in the following code:
<gazebo> <plugin name="kobuki_controller" filename="libgazebo_ros_kobuki.so"> <publish_tf>1</publish_tf> <left_wheel_joint_name>wheel_left_joint</left_wheel_joint_name> <right_wheel_joint_name>wheel_right_joint</right_wheel_joint_name> <wheel_separation>.30</wheel_separation> <wheel_diameter>0.09</wheel_diameter> ...