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I want to simulate a differential drive robot in drake. However, its not easy figuring out the closest tutorial to start as a reference. In addition, can drake incorporate sensors like RFID or magnetometer. Any help will be appreciated.

I do have sdf file of my differential drive robot.

Murt
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1 Answers1

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There is one example of PR2, which also has a differential drive (DD). This example models the DD as three fully actuated joints: prismatic x, prismatic y and revolute theta. Then you can build a constrained controller to control the basis. By constrained controller, I mean the target position of (x, y, theta) should satisfy the differential constraint.

I have an ongoing branch that tries to add some controllers to the PR2. It's raw but should be able to get you started.

huihua
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  • Thank you for the pointer. I really appreciate it. I have been able to port the urdf model and will be proceed the way you have in your code. – Murt May 28 '20 at 20:46