Join GitHub today
GitHub is home to over 40 million developers working together to host and review code, manage projects, and build software together.Sign up
[ros2] Port skid_steer_drive to ROS2 #927
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.
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.