Gazebo: add OmniRover with Mecanum wheels #139
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- Add left Mecanum wheel. - Add right Mecanum wheel. - Update damping and friction. - Update surface friction. - Fix wheel joint limits. - Fix formatting / indent. - Align roller visual mesh with poles along z-axis. - Use spheres for roller collision meshes. - DART and ODE do not support ellipsoid collisions natively. - Sphere collision meshes are much faster. Signed-off-by: Rhys Mainwaring <[email protected]>
- Add OmniX rover. - Fix rover joint limits. - Fix wheel orientation. - Standardise topic names. - Update joint controller gains. - Enable ArduPilot plugin. - Fix channel for front right wheel. - Increase base link mass to 1.5kg. - Increase max velocity to 2.3 m/s - Rename model - Add readme Signed-off-by: Rhys Mainwaring <[email protected]>
Signed-off-by: Rhys Mainwaring <[email protected]>
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Signed-off-by: Rhys Mainwaring <[email protected]>
- Add Omni3 rover with Mecanum wheels. - Use three left wheels for Omni3 rover Signed-off-by: Rhys Mainwaring <[email protected]>
Signed-off-by: Rhys Mainwaring <[email protected]>
Signed-off-by: Rhys Mainwaring <[email protected]>
Signed-off-by: Rhys Mainwaring <[email protected]>
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Add two omni rover frames using Mecanum wheels: a 4 wheel rover with frame type OmniX (FRAME_TYPE = 3), and a 3 wheel rover that uses a new frame type Omni3Mecanum.
Figure: 4 wheel rover using frame type OmniX.
Figure: 3 wheel rover using frame type Omni3Mecanum.
Alternatives considered
The Gazebo model repo contains a Mecanum Lift. This model includes a planar controller plugin to move the model about in response to a planar twist command. The approach here is different in that the Mecaum wheels are modelled directly using 9 spheroid rollers in each wheel. There are models for left and right wheels that may be imported into another model using the SDF
<include>element. This permits different geometries to be assembled, and allows the ArduPilot plugin to control each wheel directly by assigning it to a PWM channel.Figure: Mecanum wheel detail displaying roller joints.
Related issues and discussion
Usage
Run Gazebo
Run SITL
sim_vehicle.py -v Rover --model JSON --add-param-file=$HOME/SITL_Models/Gazebo/config/omni4rover.param --console --mapOnce armed, set the mode to
MANUALand control as follows:rc 1rc 2rc 3rc 4Figure: omni rover moving laterally
