Gazebo로 기계의 남쪽 구멍을 사용한 전방향 이동 로봇을 시뮬레이션했다

개요

작업 환경

방법

사용법

$ git clone https://github.com/DaiGuard/fuji_mecanum

<?xml version="1.0" ?>
<robot name="mecanum_wheel_robot" xmlns:xacro="http://ros.org/wiki/xacro">

  ....

  <!-- include mecanum_wheel macro -->
  <xacro:include filename="$(find fuji_mecanum)/urdf/mecanum_wheel_macro.xacro" />
  <!-- load macro -->
  <!-- name: link name -> ${name}_wheel_link -->
  <!-- side: mecanum wheel direct 1: right, -1: left -->
  <xacro:mecanum_wheel name="right" side="1" />
  <xacro:mecanum_wheel name="left" side="1" />

  <joint name="right_joint_name" type="fixed">    
    <parent link="parent" />
    <child link="right_wheel_link" />
  </joint>

  <joint name="left_joint_name" type="fixed">    
    <parent link="parent" />
    <child link="left_wheel_link" />
  </joint>

  ....

</robot>