Class GazeboRosTricycleDrive

Inheritance Relationships

Base Type

  • public gazebo::ModelPlugin

Class Documentation

class GazeboRosTricycleDrive : public gazebo::ModelPlugin

A tricycle drive plugin for gazebo.

Example Usage: 

<plugin name='tricycle_drive' filename='libgazebo_ros_tricycle_drive.so'>

  <ros>
    <namespace></namespace>
    <remapping>cmd_vel:=cmd_vel</remapping>
    <remapping>odom:=odom</remapping>
  </ros>

  <!-- wheels -->
  <steering_joint>wheel_front_steer</steering_joint>
  <actuated_wheel_joint>wheel_front_spin</actuated_wheel_joint>
  <encoder_wheel_left_joint>wheel_rear_left_spin</encoder_wheel_left_joint>
  <encoder_wheel_right_joint>wheel_rear_right_spin</encoder_wheel_right_joint>

  <!-- kinematics -->
  <wheel_separation>1.0</wheel_separation>
  <encoder_wheel_diameter>0.3</encoder_wheel_diameter>
  <actuated_wheel_diameter>0.3</actuated_wheel_diameter>

  <!-- limits -->
  <max_wheel_torque>20</max_wheel_torque>
  <max_wheel_acceleration>5.0</max_wheel_acceleration>
  <max_steering_speed>1.0</max_steering_speed>

  <!-- output -->
  <publish_odom>true</publish_odom>
  <publish_wheel_tf>true</publish_wheel_tf>
  <publish_wheel_joint_state>true</publish_wheel_joint_state>

  <odometry_frame>odom</odometry_frame>
  <robot_base_frame>fork</robot_base_frame>

</plugin>

Public Functions

GazeboRosTricycleDrive()

Constructor.

~GazeboRosTricycleDrive()

Destructor.

Protected Functions

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