DC motor model plugin for Gazebo-ROS

ROS Projects
1

Hi all,

I’ve just finished a DC motor plugin for gazebo:

bye,
m.

8 Likes
2

hello, can i ask which version of ros and gazebo is this developed in? i am facing some issues while compiling using catkin_make.

3

@rrrh it works fine on ROS Melodic and Gazebo 9.0. I just configured the package

4

If anyone has been able to get this running in ROS Kinetic and Gazebo 7.0 I would be interested to learn how.

I was getting an issue with SimTime that was fixed by replacing it with GetSimTime

now “error: ‘class gazebo::physics::Joint’ has no member named ‘Position’” is the stumbling block

5

A lot changed between 7.0 and 9.0 : https://github.com/osrf/gazebo/blob/master/Migration.md

I can take a look at it at the weekend if you don’t feel like updating to at least 9.0 ?

6

I’ve tried to add gazebo 7 support, it’s on kinetic branch. There is currently no way for me to try if it works.

7

Thanks for the clarification. May I ask have you tried using this motors to simulate a robot?

Currently I am trying to model a holonomic robot, and I have 4 motors, 1 for each wheel. The holonomic movement is fine when my robot faces the x axis. However, when i rotate my robot 90 degrees about the z axis to face the y axis, the movements do not make sense. I am not sure of what is the current issue that I am facing.

8

hi!

yes, i am using it in most of my robot simulations, some of which are holonomic.

9

Did you face any issues while integrating the motors for your holonomic robot? Sorry to trouble you, as I really have no idea why my simulation isn’t making sense.

10

Please try the joint_motor.xacro and see if the problem persists. I had no issues so far with the dc simulations, but that doesn’t mean that there are none. Is the source to your simulation accessible ( I could take a look ) ?

11

Ah, I’m using kinetic-gazebo 7 though :frowning: I’ll try and troubleshoot more and see if I can get it to work. Meanwhile, i’ve tried your kinetic branch and it seems to be working fine as of now.

12

Hi @nilseuropa ,
thanks for the great work!
I’ve tried the kinetic branch and it works quite well!

However, I have a question for you.
Is it possible to extract from your package only the dc motor simulation, i.e., not joined with a specific joint.
I would need to simulate multiple dc motors acting on a single joint, how difficult would it be?

Thanks,
bye
Ric

13

Hello, can you create a youtube video on how to implement these plugins in gazebo and ros?

14

@nilseuropa can you please help with creating a video tutorial on how to use this dc model. Thank you very much in advance