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gz_classic_sim: Free caster wheel joint. #166

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merged 1 commit into from
Oct 9, 2023
Merged

gz_classic_sim: Free caster wheel joint. #166

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7 changes: 0 additions & 7 deletions andino_gz_classic/launch/spawn_robot.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -70,13 +70,6 @@ def get_robot_description(use_ros_control: str) -> str:
robot_desc = robot_desc.replace(
'package://andino_description/', f'file://{folder}/'
)
# TODO(issue #110). Gazebo simulation with ros control and caster wheel working complete
# made that the robot do not move in straight-line.
# hack to solve the problem of the caster.
robot_desc = robot_desc.replace(
'<joint name="caster_rotation_joint" type="continuous">',
'<joint name="caster_rotation_joint" type="fixed">',
)
return robot_desc


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24 changes: 4 additions & 20 deletions andino_gz_classic/urdf/andino_gz_classic.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -3,24 +3,6 @@

<xacro:include filename="$(find andino_description)/urdf/andino.urdf.xacro"/>

<xacro:macro name="friction" params="reference mu">
<gazebo reference="${reference}">
<mu1>${mu}</mu1>
<mu2>${mu}</mu2>
<kp>1000000.0</kp>
<kd>1.0</kd>
<minDepth>0.0001</minDepth>
<maxVel>1.0</maxVel>
</gazebo>
</xacro:macro>

<xacro:friction reference="right_wheel" mu="100.0"/>
<xacro:friction reference="left_wheel" mu="100.0"/>
<xacro:friction reference="caster_wheel_link" mu="0.05"/>
<!--TODO(olmerg) initial solution problem with ros control -->
<!-- <xacro:friction reference="caster_rotation_link" mu="0.0"/> -->


<xacro:if value="$(arg use_gazebo_ros_control)">
<ros2_control name="diff_controller" type="system">
<hardware>
Expand Down Expand Up @@ -52,7 +34,8 @@
<remapping>~/out:=joint_states</remapping>
<remapping>/tf:=tf</remapping>
</ros>
<update_rate>10</update_rate>
<update_rate>30</update_rate>
<joint_name>caster_rotation_joint</joint_name>
<joint_name>caster_wheel_joint</joint_name>
</plugin>
</gazebo>
Expand All @@ -65,9 +48,10 @@
<remapping>~/out:=joint_states</remapping>
<remapping>/tf:=tf</remapping>
</ros>
<update_rate>10</update_rate>
<update_rate>30</update_rate>
<joint_name>right_wheel_joint</joint_name>
<joint_name>left_wheel_joint</joint_name>
<joint_name>caster_rotation_joint</joint_name>
<joint_name>caster_wheel_joint</joint_name>
</plugin>

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