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[ros2] Port skid_steer_drive to ROS2 #927

merged 5 commits into from Jun 19, 2019


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commented May 23, 2019

Differential drive plugin has been modified to integrate skid steer drive into it. Any number of wheel pairs (1: diff drive, 2: skid_steer_drive or greater than 2) can be specified in the sdf and accordingly the joint names, wheel separations, and wheel diameters have to be specified.

      <plugin name='diff_drive' filename=''>


        <!-- Number of wheel pairs -->
        <!-- wheels0 -->
        <!-- wheels1-->

        <!-- kinematics -->


        <!-- limits -->

        <!-- output -->



Here there are 2 wheel pairs specified. Thus it will behave as skid steer drive. Similarly any number can be specified for num_wheel_pairs. The joint names, wheel separations, and wheel diameter for each pair has to be specified with their index number appended to the base tag.

For example <wheel_separation3> specifies the spacing for <left_joint3> and <right_joint3> and so. The indexing starts from 0 to (num_wheel_pairs - 1).

[ros2] Port skid_steer_drive to ROS2
Integrate skid steer drive into diff drive

@chapulina chapulina self-assigned this May 28, 2019

@chapulina chapulina added the ros2 label May 28, 2019

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Works for me, and I love the demo vehicle!


Mind adding a note to the wiki about migrating the skid steer plugin?

Also, don't forget to remove the skid steer files from .ros1_unported.


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commented Jun 18, 2019

Migration guide is available at ROS 2 Migration: Skid Steer drive

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Works great for me, thanks for iterating 😄

@chapulina chapulina merged commit fa09083 into ros-simulation:ros2 Jun 19, 2019

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Dpr__gazebo_ros_pkgs__ubuntu_bionic_amd64 Build finished.

@shiveshkhaitan shiveshkhaitan deleted the shiveshkhaitan:skid_steer_drive branch Jun 22, 2019

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