Error Create your first robot with ROS unit 3 simulation

Course Support Your First Robot With ROS
1

Hi, i am creating my own robot for a personal project, i am taking as guide the course Create Your First Robot with ROS. but when making the simulation i have an error.

image
image1758×952 235 KB

i think is a conflict with the transformations. seems like gazebo disconect the two wheels from the transformation.
image
image1751×433 93.7 KB

Does anyone knows why this happen and how to solve it?
(perhaps something about the differential drive gazebo plugin)?

2

Hi,

This is related to the differential drive that doesn’t connect the TFs, Its not a big deal as for the course, but if you want to fix it you will have to check the differential drive ruling configuration or just publish a static transform that connects the Base_footprint link with the base_link.

3

Hi,
I can’t see what is wrong with the differential drive setup in the rosbots.gazebo.xacro. It uses the base_link as the robotBaseFrame so I don’t see why as in the above screenshot gazebo is publish the transform between the base_footprint and the wheels rather than the base_link and the wheels.

As I look at it the base_footprint & base_joint just provide a ‘z’ offset to the base_link. So as a simple ‘fix’ I removed the base_footprint & base_joint from the main .xacro and everything linked up correctly.