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scout joint controller setup

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This commit is contained in:
Ruixiang Du
2020-03-25 00:03:18 +08:00
parent 5279161dbf
commit 9c26ce9c34
8 changed files with 57 additions and 102 deletions
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9
scout_description/urdf/scout_v2.gazebo
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@@ -10,7 +10,7 @@
</plugin>
</gazebo>
<gazebo>
<!-- <gazebo>
<plugin name="skid_steer_drive_controller" filename="libgazebo_ros_skid_steer_drive.so">
<updateRate>100.0</updateRate>
<robotNamespace></robotNamespace>
@@ -22,16 +22,15 @@
<wheelDiameter>0.32918</wheelDiameter>
<robotBaseFrame>base_link</robotBaseFrame>
<torque>1000</torque>
<!-- <topicName>cmd_vel</topicName> -->
<commandTopic>cmd_vel</commandTopic>
<broadcastTF>1</broadcastTF>
<broadcastTF>true</broadcastTF>
<odometryTopic>odom</odometryTopic>
<odometryFrame>odom</odometryFrame>
<covariance_x>0.000100</covariance_x>
<covariance_y>0.000100</covariance_y>
<covariance_yaw>0.010000</covariance_yaw>
</plugin>
</gazebo>
</gazebo> -->
<!-- <gazebo>
<plugin name="object_controller" filename="libgazebo_ros_planar_move.so">
@@ -41,5 +40,5 @@
<odometryRate>20.0</odometryRate>
<robotBaseFrame>base_footprint</robotBaseFrame>
</plugin>
</gazebo> -->
</gazebo> -->
</robot>