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Gazebo differential driver

Simulation / Gazebo / plugins

Differential drive controller which can be attached to a model with any number of left and right wheels. more

simple gazebo declaration

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<plugin name="gz::sim::systems::DiffDrive" filename="gz-sim-diff-drive-system">

    <left_joint>wheel_left_joint</left_joint>
    <right_joint>wheel_right_joint</right_joint>
    <wheel_separation>0.3</wheel_separation>
    <wheel_radius>0.1</wheel_radius>


    <max_linear_acceleration>0.33</max_linear_acceleration>

    <topic>cmd_vel</topic>


    <frame_id>odom</frame_id>
    <child_frame_id>base_link</child_frame_id>
    <odom_topic>odom</odom_topic>
    <odom_publish_frequency>30</odom_publish_frequency>

    <tf_topic>/tf</tf_topic>

  </plugin>

Config

Parameter Description
left_joint Name of a joint that controls a left wheel. This element can appear multiple times, and must appear at least once.
right_joint Name of a joint that controls a right wheel. This element can appear multiple times, and must appear at least once.
wheel_separation Distance between wheels, in meters. Optional, default is 1.0 m.
wheel_radius Wheel radius in meters. Optional, default is 0.2 m.
odom_publish_frequency Odometry publication frequency. Optional, default is 50 Hz.
topic Custom topic this system subscribes to for command velocity messages. Optional, default is /model/{name_of_model}/cmd_vel.
odom_topic Custom topic for publishing odometry messages. Optional, default is /model/{name_of_model}/odometry.
tf_topic Custom topic for publishing transform from frame_id to child_frame_id. Optional, default is /model/{name_of_model}/tf.
frame_id Frame used as the origin in the odometry transform (tf_topic and odom_topic). Optional, default is {name_of_model}/odom.
child_frame_id Frame used as the target in the odometry transform. Optional, default is {name_of_model}/{name_of_link}.
min_velocity Minimum linear and angular velocity.
max_velocity Maximum linear and angular velocity.
min_acceleration Minimum linear and angular acceleration.
max_acceleration Maximum linear and angular acceleration.
min_jerk Minimum linear and angular jerk.
max_jerk Maximum linear and angular jerk.
min_linear_velocity Minimum linear velocity. Overrides min_velocity if set.
max_linear_velocity Maximum linear velocity. Overrides max_velocity if set.
min_angular_velocity Minimum angular velocity. Overrides min_velocity if set.
max_angular_velocity Maximum angular velocity. Overrides max_velocity if set.
min_linear_acceleration Minimum linear acceleration. Overrides min_acceleration if set.
max_linear_acceleration Maximum linear acceleration. Overrides max_acceleration if set.
min_angular_acceleration Minimum angular acceleration. Overrides min_acceleration if set.
max_angular_acceleration Maximum angular acceleration. Overrides max_acceleration if set.
min_linear_jerk Minimum linear jerk. Overrides min_jerk if set.
max_linear_jerk Maximum linear jerk. Overrides max_jerk if set.
min_angular_jerk Minimum angular jerk. Overrides min_jerk if set.
max_angular_jerk Maximum angular jerk. Overrides max_jerk if set.

usage

moving robot tutorial

gz topic publish
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gz topic -t "/cmd_vel" -m gz.msgs.Twist -p "linear: {x: 0.5}, angular: {z: 0.0}"