Class GazeboRosAckermannDrive

Inheritance Relationships

Base Type

  • public gazebo::ModelPlugin

Class Documentation

class GazeboRosAckermannDrive : public gazebo::ModelPlugin

A ackermann drive plugin for car like robots. Subscribes to geometry_msgs/twist.

Example Usage: 

<plugin name="gazebo_ros_ackermann_drive" filename="libgazebo_ros_ackermann_drive.so">

  <ros>
    <namespace>demo</namespace>
    <remapping>cmd_vel:=cmd_demo</remapping>
    <remapping>odom:=odom_demo</remapping>
    <remapping>distance:=distance_demo</remapping>
    <remapping>steerangle:=steerangle_demo</remapping>
  </ros>

  <update_rate>100.0</update_rate>

  <!-- wheels -->
  <front_left_joint>front_left_wheel_joint</front_left_joint>
  <front_right_joint>front_right_wheel_joint</front_right_joint>
  <rear_left_joint>rear_left_wheel_joint</rear_left_joint>
  <rear_right_joint>rear_right_wheel_joint</rear_right_joint>
  <left_steering_joint>front_left_steer_joint</left_steering_joint>
  <right_steering_joint>front_right_steer_joint</right_steering_joint>
  <steering_wheel_joint>steering_joint</steering_wheel_joint>

  <!-- Max absolute steer angle for tyre in radians-->
  <!-- Any cmd_vel angular z greater than this would be capped -->
  <max_steer>0.6458</max_steer>

  <!-- Max absolute steering angle of steering wheel -->
  <max_steering_angle>7.85</max_steering_angle>

  <!-- Max absolute linear speed in m/s -->
  <max_speed>20</max_speed>

  <!-- PID tuning -->
  <left_steering_pid_gain>1500 0 1</left_steering_pid_gain>
  <left_steering_i_range>0 0</left_steering_i_range>
  <right_steering_pid_gain>1500 0 1</right_steering_pid_gain>
  <right_steering_i_range>0 0</right_steering_i_range>
  <linear_velocity_pid_gain>1000 0 1</linear_velocity_pid_gain>
  <linear_velocity_i_range>0 0</linear_velocity_i_range>

  <!-- output -->
  <publish_odom>true</publish_odom>
  <publish_odom_tf>true</publish_odom_tf>
  <publish_wheel_tf>true</publish_wheel_tf>
  <publish_distance>true</publish_distance>
  <publish_steerangle>true</publish_steerangle>

  <odometry_frame>odom_demo</odometry_frame>
  <robot_base_frame>chassis</robot_base_frame>

</plugin>

Public Functions

GazeboRosAckermannDrive()

Constructor.

~GazeboRosAckermannDrive()

Destructor.

Protected Functions

void Load(gazebo::physics::ModelPtr _model, sdf::ElementPtr _sdf) override
void Reset() override