There is a new controller in the SVN (rev. 257) called steering_position2d.
It is a general steering controller. It has been around in the SVN a little
while but buggy, thanks to Henrik Andreasson for finding out the bug.
This controller let you define any number of wheels with any placement and
3 types of wheels:
- steer : only get steering commands (via cmdVelocity.yaw)
- drive: only get velocity commands (via cmdVelocity.x)
- full: both of the above.
This allows for 4 wheeled cars , 6 wheeled trucks, 3 wheeled toys and much
more (you can have a moving rotating platform on your robot that can be
controlled by cmdVelocity.yaw for instance).
The example model is called simplecar.
Now, most if not all the models of Gazebo 0.7 can be converted to
0.8-prewith no coding, just XML. Anybody interested is just a matter
of reading the
0.7 code and write the XML with the proper sizes.
Bug reports also welcomed.
--
Jordi Polo Carres
NLP laboratory - NAIST
http://www.bahasara.org
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