Comments (6)
Hi,
I guess you are running the simulation from sources.
Recently we disabled by default the use of the DiffDriveController plugin because we were not getting the desired behaviour, and we set by default use of the ros_planar.
In case you want to run the simulation by enabling the DiffDriveController you can run it with the argument ros_planar_move_plugin:=false.
roslaunch summit_xl_sim_bringup summit_xl_complete.launch ros_planar_move_plugin:=false
from summit_xl_sim.
from summit_xl_sim.
from summit_xl_sim.
It is linked at URDF model description level as a xacro.
All the summit_xl bases share the summit_xl_base.gazebo.xacro
Then, in the main robot.xacro we have an argument to include it.
And finally, in the gazebo one_robot launch we pass the argument here:
<param name="robot_description" command="$(find xacro)/xacro '$(find summit_xl_description)/robots/$(arg xacro_robot)' prefix:=$(arg prefix) **ros_planar_move_plugin:=$(arg ros_planar_move_plugin)** omni_wheels:=$(arg omni_drive) --inorder"/>
Hope it helps!
from summit_xl_sim.
from summit_xl_sim.
from summit_xl_sim.
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