Simulation of a 4WS Robot Using ROS2 Control and Gazebo
Переглядів 11,520
Рік томуIn this tutorial I explain how to use ROS2 Control to create a 4WS robot and simulate it using Gazebo.
ROS: humble
The project is here:
drive.google.com/drive/folder...
@rajmeetsingh1625 Рік тому
good one......... keep it up.
@robotmania8896 Рік тому
Hi rajmeet singh! Thanks for watching my video! It is my pleasure if this video has helped you!
@user-bz9uf4ib8b 6 місяців тому
thank you sir
@robotmania8896 6 місяців тому
Hi 김동주! Thanks for watching my video! It is my pleasure if this video has helped you!
@mohamedboukermouche2555 Місяць тому
magnifique thanks alot for this video
@robotmania8896 Місяць тому
Hi Mohamed Boukermouche! Thanks for watching my video! It is my pleasure if this video has helped you!
@user-rq8lz6pn6b Рік тому
That's amazing
@robotmania8896 Рік тому
Thank you! It is my pleasure if this video has helped you!
@user-rq8lz6pn6b Рік тому
@@robotmania8896 Thank your information . And, If I have any question , may I ask you again?
@robotmania8896 Рік тому
@@user-rq8lz6pn6b Yes, of course.
@user-wi9nf5id5y Рік тому
Thank you so much! But in google drive there is no some folders (install as example)((( Please, can you add full archive?
@user-wi9nf5id5y Рік тому
I get "Package 'gazebo_simulation' not found: "package 'gazebo_simulation' not found, searching: ['/opt/ros/rolling']".
@robotmania8896 Рік тому
Hi Юсуф Бойматов! Thanks for watching my video! Please execute the “$ colcon build” command in the “four_ws_ros2” directory.
@chan-hs9vb 9 днів тому
I wanna modify and use for my 4wheel drive project but i wonder in robot_contorl.py self.wheel_seperation = 0.122 self.wheel_base = 0.156 self.wheel_radius = 0.026 what unit these code use? feet? meter? I wanna know.
@robotmania8896 9 днів тому
Hi chan! Thanks for watching my video! The units are meters.
@iskandarabdelhedi4569 4 місяці тому
hi , thank you for your help ! but i have an error in the controller_manager package ,the load_controller file not found
@robotmania8896 4 місяці тому
Hi Iskandar Abdelhedi! Have you installed all packages that are mentioned in the tutorial? Also, can you paste the whole error?
@iskandarabdelhedi4569 4 місяці тому
@@robotmania8896this is the error : amir@amir-desktop:~/four_ws_ros2$ ros2 control load_controller --set-state active joint_state_broadcaster usage: ros2 control load_controller [-h] [--spin-time SPIN_TIME] [--set-state {configure,start}] [-c CONTROLLER_MANAGER] [--include-hidden-nodes] controller_name ros2 control load_controller: error: argument --set-state: invalid choice: 'active' (choose from 'configure', 'start') amir@amir-desktop:~/four_ws_ros2$ ros2 control load_controller --set-state configure joint_state_broadcaster Could not contact service /controller_manager/load_controller
@iskandarabdelhedi4569 4 місяці тому
@@robotmania8896 i work with foxy version
@robotmania8896 4 місяці тому
This tutorial is made for ROS Humble. Please use Humble, since ros2_control syntaxes in Foxy could be slightly different.
@nivedkrishnan7308 Місяць тому
Iam trying to perform autonavigation. How can I get odom feedback from robot.Can you please help me .
@robotmania8896 Місяць тому
Hi nived Krishnan! If you would like to use wheel odometry, the code provided in this tutorial will help you. ukposts.info/have/v-deo/jpGdgKBwcJ-ot6s.html If you would like to use lidar odometry, you can use the code provided in this tutorial. ukposts.info/have/v-deo/oJOkh2Nwhn-W02g.html
@nivedkrishnan7308 Місяць тому
Hello I have tried to launch simulation in gazebo But I found that robot car is shivering and jumping in gazebo.How can I solve this issue
@robotmania8896 Місяць тому
Hi nived Krishnan! Thank you for reporting the issue! I have updated the zip file. Please download it and try one more time.
@nivedkrishnan7308 Місяць тому
@@robotmania8896 Thankyou for your response. Now robot is stable in gazebo
@PawesomePlanet 9 місяців тому
hey man i have a problem at last for launching the gazebo source -bash it says there is no such a file or directory can u help me pls
@robotmania8896 9 місяців тому
Hi PawesomePlanet! Thanks for watching my video! Can you please paste here the whole error?
@PawesomePlanet 8 місяців тому
i fixed it thank u but can u tell me how to control it with keyboard not joypad @@robotmania8896
@skyeg3 Рік тому
Hey man I'd be really interested to get your opinion on a video I have on my channel called 'turn center experimentation' This is a mockup of a way to think about vehicle control in which all movement is based off of a direction and a turn center point. During straight travel the turn center point is out infinity distance to the sides of the vehicle travel. Then, as the turn is increased, the turn center comes in all the way until the center is directly under the vehicle and the vehicle is turning on a dime. So, turning on a dime isn't a separate drive mode but is a state the vehicle transitions into and out of smoothly. Do you think you could code something like this? Is the approach much different from what you have here? If anyone can do this I will build the test rig. Ridable version. No joke.
@robotmania8896 Рік тому
Hi skyeg3! Thanks for watching my video! I saw your video. I think it is possible to code the vehicle movement based on the center point position. Actually, I think each equation of the 4ws robot mode can be derived from one equation. For example, in-phase mode is when the center point is infinitely far from the center of the robot. But in practice usually actuators which rotate the wheel assembly have turning angle limitation. So, such robot is not completely holonomic.
@skyeg3 Рік тому
@@robotmania8896 Exactly! Wouldn't this make for a much more smooth, fun, and rideable experience? I am researching using geared down stepper motors to rotate each wheel. Also I'm looking into using slip rings for the hub motor wires so the wheels can truly rotate infinitely. What do you think about this?
@robotmania8896 Рік тому
@@skyeg3 I think that sliprings are mainly used in measurement equipment, and I am not sure whether they are durable enough to be used in products such as vehicles. But you may give it a try.
@skyeg3 Рік тому
@@robotmania8896 there does seem to be a general sentiment that slip rings are too unreliable to be used for this but I guess I'll just need to test it myself. I just ordered an 8-wire slip ring on Amazon and will be testing.
@evanlane1690 Рік тому
Just saw this. Nice idea! It sounds like it would turn smoother.
@mikeb5556 10 місяців тому
Shame the commentary is by a synthetic voice with poor intonation; it actually makes it more difficult to understand.
@robotmania8896 10 місяців тому
Hi mikeb55! Thanks for watching my video! Since I am not a native English speaker, I think that synthetic voice is better, even though it has some flaws with technical terms.
@harshaVardhan-lq6sm 10 місяців тому
i have mailed u plz reply
@robotmania8896 10 місяців тому
Hi harshaVardhan-lq6sm! Thanks for watching my video! It seems I haven’t received your e-mail. Please send me your e-mail to this address: robotmania8867@yahoo.com
@user-rq8lz6pn6b Рік тому
May I contact you with gmail ? I want to ask a question about 4ws
@robotmania8896 Рік тому
Yes, here is my e-mail: robotmania8867@yahoo.com
@user-rq8lz6pn6b Рік тому
@@robotmania8896 Did you get my email （yahoo）? thanks
@robotmania8896 Рік тому
@@user-rq8lz6pn6b Yes, I got your email and replied to it yesterday. Please check your mailbox.
@harshaVardhan-lq6sm 10 місяців тому
@@robotmania8896 i have mailed u plz reply
@gurselturkeri Рік тому
Hi, Can you give your mail adres? In my robotic arm project I get an error about controller_manager.
@robotmania8896 Рік тому
Hi Gürsel Türkeri! Thanks for watching my video! I don’t know whether I will be able to help you, but here is my e-mail address. robotmania8867@yahoo.com
@pona-es5ry 9 місяців тому
Hi! If you had a "Could not contact service /controller_manager" problem, how did you solve it?
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