Hi all, I had solved this.
My USD file is here:
carter_jackal.zip (84.3 KB)
| Robot | Wheel Radius (m) | Wheel Separation (m) |
|---|---|---|
| carter_v2_3 | 0.14 | 0.4132 |
| Jackal | 0.098 | 0.37558 |
I use 1 differential controller and 2 articulation controllers. In Jackal differential controller, I set wheelDistance to 4.2 rather than 0.37558.
According to section “2.1. Kinematical Analogy of Skid-Steering with Differential Drive” on paper “Analysis and Experimental Kinematics of a Skid-Steering Wheeled Robot Based on a Laser Scanner Sensor”, SSMR is equivalent to ideal differential drive robot with longger wheelDistance than actual config.
Control Jackal and carter_v2_3 with linear v=0 and angular w=1.0 rad/s:
Control Jackal and carter_v2_3 with linear v=0.5 m/s and angular w=0.5 rad/s:
