Jordi wrote: > 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
All the white pieces are movable, and actually there are 2 "layers" of theses bits as you can see here: http://download.gna.org/wisirc/WizHard/img/chassis_20040405/chassis-20040405-2.jpg > > 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. Sure, actually all ours HW designs are open-source and downloadable (schematics and layout), and new ones will be as well. And if i write drivers or models, i'll be glad to send them here. Cheers, Chris > > > > > 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 <http://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] > <mailto:[email protected]> > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > > > > > -- > Jordi Polo Carres > NLP laboratory - NAIST > http://www.bahasara.org ------------------------------------------------------------------------- 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
