Class GazeboRosWheelSlip

Inheritance Relationships

Base Type

  • public gazebo::WheelSlipPlugin

Class Documentation

class GazeboRosWheelSlip : public gazebo::WheelSlipPlugin

A plugin for adjusting wheel slip parameters in gazebo. The plugin can set separate longitudinal and lateral wheel slip compliance parameters for separate wheel links. The following ROS parameters can optionally be specified in the world file:

  1. slip_compliance_unitless_lateral

    • Type: double

    • Description: Unitless slip compliance (slip / friction) in the lateral direction. This value is applied to all wheels declared in the WheelSlipPlugin.

  2. slip_compliance_unitless_longitudinal

    • Type: double

    • Description: Unitless slip compliance (slip / friction) in the longitudinal direction. This value is applied to all wheels declared in the WheelSlipPlugin.

  3. slip_compliance_unitless_lateral/wheel_name

    • Type: double

    • Description: Unitless slip compliance (slip / friction) in the lateral direction. This value is applied to the wheel named ‘wheel_name’ declared in in the WheelSlipPlugin.

  4. slip_compliance_unitless_longitudinal/wheel_name

    • Type: double

    • Description: Unitless slip compliance (slip / friction) in the longitudinal direction. This value is applied to the wheel named ‘wheel_name’ declared in the WheelSlipPlugin.

  5. wheel_spin_tolerance

    • Type: double

    • Description: The tolerance for the wheel to be considered in motion. If the wheel speed is less than this value, the wheel is considered to be stopped. This value is applied to all wheels declared in the WheelSlipPlugin.

  6. publisher_update_rate

    • Type: double

    • Description: The rate at which the publisher publishes the wheel slip. If this value is zero or negative, the publisher will publish at the maximum rate. This value is applied to all wheels declared in the WheelSlipPlugin.

Public Functions

GazeboRosWheelSlip()

Constructor.

~GazeboRosWheelSlip()

Destructor.

Protected Functions

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