Hi all, Sorry not to reply in the thread, but i've just subscribed, and so i don't have the original email.
I'm very interesting as well in modeling omni-directional wheel and holonomous robot in Gazebo. I used to work on an open source project which try to develop such a platform[1] (as well as an ODE-based simulator). At that time we used a "normal" wheel model, but the simple trick was to define the ODE friction coef along the wheel axis to be very small compared to the one along the wheel path, I'm not sure gazebo allow to access these type of parameters from the xml file. I'm really new to player/stage/gazebo, I start having a look on Saturday! Did a few build, trys (and errors), and finally get everything running (last player/stage (pre-)release, and a fresh svn for gazebo). Try playercam, joystick, laser, sonar, i am still exploring... and i enjoy! Thank's to you all! I'm so enthusiastic, that i would like to resuscitate the WISIRC project that i start with some of my friends in 2004, but actually what i realized is that all we wanted to do is something like player/stage/gazebo, but the main difference is p/s/g do it for real! :-) Having all this framework running, will allow me to concentrate more on HW, meca, drivers, sensors, etc of the robot (i'm actually more on HW, low-level SW side). For this holonomic platform we developped a specific PC104 motor control board[2], based on 3 HCTL1100 ICs(z filter), each of these was accessed from userspace by the "motion control" daemon, which in turn was accessed by the path planner. The goal was to implement the same "motion control" interface within the simulator, and we almost did, almost... Then we decide to start working with a DSP running the motion control algorithm (2 PIDs, one for controlling the linear position/velocity, the second one for controlling angular position/velocity), which has odometry directly connected (wheel encoder + laser motion sensors, such has found in laser mouse for gamer), and then the project start slowing down and down and ... dies. (snif! ;)) Ah, and i didn't tell you about our plan for having DSP-based (TI C6711) camera imagery , etc... ;) Well, the big difference between p/s/g and wisirc, is that our goal was to build completely from scratch (HW, Meca, SW) an 99.99% open-source holonomic platform. As hobbyist, the fun is in the do-it-youself! (And i don't have the money to buy all these very expensives ready-to-uses sensors) I'm really happy to see all the features that p/s/g offers, very exciting. So for now, i have to create these configuration/model files for my bot, and start digging into the player's drivers/interfaces model. Have fun! Chris. [1] http://home.gna.org/wisirc/images/wizbot1-20040901/ http://download.gna.org/wisirc/MecaWiz/wizbot-20060819/chassis_1.png http://download.gna.org/wisirc/MecaWiz/wizbot-20060819/new_wheel_1.png [2] http://home.gna.org/wisirc/projects/WizHard PS: this site is really out of date, unfortunately our newer wisirc.org web site disapeared recently... ------------------------------------------------------------------------- This SF.net email is sponsored by: Microsoft Defy all challenges. Microsoft(R) Visual Studio 2008. http://clk.atdmt.com/MRT/go/vse0120000070mrt/direct/01/ _______________________________________________ Playerstage-gazebo mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
