Hello, i was wondering what is plugin controller for omniwheel robot (base 3)
From theconstruct, i common use libgazebo_ros_control.so in my urdf file.
But in turtlebot3 urdf, there is libgazebo_ros_diff_drive.so.
what is different about these two files? and what is recommendation for my omniwheel robot?
Hello @billy.nugraha.s,
The libgazebo_ros_control.so Gazebo plugin allows you to setup simulated controllers to actuate the joints of your robot. The libgazebo_ros_diff_drive.so loads a plugin that provides a basic controller for differential drive robots.
In case you want to use an omniwheel robot, you can use, for instance, the libgazebo_ros_planaer_move.so. Here you can find a video series where this is used: Using Gazebo Plugins to Simulate & Control Mecanum Wheels Robot. Another option could also be the gazebo_ros_force_based_move, which is a another plugin for simulating omniwheels.
Best,