How to attach ROS_DifferentialBase?

[hoanggiang]

Hi, I attached ROS_DifferentialBase on my omniwheel mobile robot, here is my setup and it doesn’t work when I publish to /cmd_vel. What should I do?

Here are the terminals of

1. roscore 2) rostopic pub /cmd_vel …
2. rostopic echo /joint_states 4) rostopic echo /odom
   
   

[ltorabi]

Hi Hoanggia,

Please see if this forum post helps you: ROS_DifferentialBase - Errors

Kindly,
Liila

[hoanggiang]

I read that post and my chassisPrim is an Articulation Root. However I found the differences between my model and Carter_ROS, it seems like my wheel joints are Position Drive, and Carter_ROS wheel joints are Velocity Drive. How can I change that after import URDF?

[Hammad_M]

More information here:
https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/sample_ros_turtlebot.html?highlight=velocity#velocity-control-setup

• set the drive damping to a non zero value for velocity control
• set the drive stiffness to zero

[hoanggiang]

Thanks, so basically there are no Velocity Drive or Position Drive in the Property. By tuning the drive damping and the drive stiffness one can modify his own drive.