Gazebo sim integration fixes #191
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Thanks for the PR! For the Gazebo turning bug, I have noticed it too. Changing the friction didn't seem to fix it but it has been a while since I have looked into it. I'll take another look when I get a chance. |
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@tonybaltovski do you intend to merge this PR with the URDF "macroing"/restructuring? If so, I will revert all the friction-testing changes. |
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@destogl I definitely do! That sounds good. |
tonybaltovski
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Dec 23, 2021
…on-fixes Gazebo sim integration fixes
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The PR adds
husky_macro.urdf.xacrofile, enabling its integration with other robots/systems.I tested
base_launch.pyandgazebo_launch.pywith the new structure.Second part is about Gazebo simulation. The last commit is rather a testing to make Husky behave properly in Gazebo. I think that the DiffDrive controller is not configured properly (see diff) and I tried recommendations from #120 to get husky turning properly, but unsuccessfully. Does someone have any idea about that?