>
> 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.
What part of your wheel is movable?
http://download.gna.org/wisirc/MecaWiz/wizbot-20060819/new_wheel_1.png
I don't think you need to play with the coef parameter, just build the
virtual wheel as it is in the real world and use the steering_position2d
controller with drive wheels (see simplecar.world for an example).
> 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)
>
Well, p/s/g started from scratch at some moment of the time.
It has being growing along the years and now it has a pretty decent amount
of drivers and code to avoid everyone starting from scratch themselves.
If you are willing to create your open platform, it may be a good idea to
explain your HW process and if you create new drivers or virtual models sent
them to the p/s/g so anyone can benefit from them also.
>
> 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 PS: this site is really out of date, unfortunately our newer wisirc.org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...
>
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--
Jordi Polo Carres
NLP laboratory - NAIST
http://www.bahasara.org
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