Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

4 wheel controller not working #28

Open
AEDEN169 opened this issue Apr 23, 2024 · 1 comment
Open

4 wheel controller not working #28

AEDEN169 opened this issue Apr 23, 2024 · 1 comment

Comments

@AEDEN169
Copy link

Hi Josh. Your videos have been so helpful. I used your repository to make a 4 wheeled robot but the ros2_control plugin isn’t working well. My robot moves in a crazy manner when I run the launch file in gazebo. Do you know how I can make it work for 4 wheels instead of two?

@0RBalaji
Copy link

0RBalaji commented Sep 5, 2024

You have to edit the gazebo_control.xacro file to make it a four wheel control enable.
The snippent of the code would be
`.......

         <num_wheel_pairs>2</num_wheel_pairs>
        <left_joint>rear_left_wheel_joint</left_joint>
        <right_joint>rear_right_wheel_joint</right_joint>
        <left_joint>front_left_wheel_joint</left_joint>
        <right_joint>front_right_wheel_joint</right_joint>

.......
`
Mention to the launch file that you have 4 wheels.
This still makes the robot a differential drive type.

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Labels
None yet
Projects
None yet
Development

No branches or pull requests

2 participants