Hi everyone, im creating an obstacle avoidance system for a 4 wheel rover module named ArduRover that i got from a fork of ardupilot-gazebo modules, im having a problem where the rovers wheels get into a weird behavior when it needs to turn right or left, the ideal way for it as a skid steering module is to turn the left side wheels to the back and the right side wheels to forward for it to make a left turn, but in my case the wheels keep moving in a random order. It does make the turn eventually but it will take time and alot of random movements which is not good. And yes i did the skid-steering parameters such as MOT_PWM_TYPE as a brushedbipolar, I looked at the SDF file of the module and nothing much is going on there, anyone have an idea about it? Thanks
@almuni can you provide a bit more detail about your system. The repo ardupilot_gazebo doesn’t include a rover example, so I’m curious what model you are using and which version of Gazebo. There a couple of rover examples in SITL_Models but none with 4-wheels.
I seems like your servo mapping is incorrect (and possibly some other params). The more info you can share (e.g. SDF, param file, AP version) the easier it is to help.
im using gazebo 11, the module is this
i added an image of it and the original module files, i found it somewhere i cant remember where. it has a great design you can attach various things to it, in my case i attached a lidar to it. anyone reading this feel free to play around with it.
mav.parm (26.5 KB)
rover_ardupilot.zip (2.0 KB)
@almuni - it’s a Clearpath Robotics Husky.
Gazebo 11 is EOL in 2025 (see the release table in https://classic.gazebosim.org/). We’re currently supporting Gazebo Garden and Harmonic and the latest version of the ardupilot_gazebo plugin targets these versions. I’m afraid I can’t support Gazebo 11, but if you are interested in migrating to a newer version I’d be happy to help get this model running correctly.
Oh i see, currently i have too much strings attached to gazebo 11 i think ill migrate later on, ill play with it some more, thank you for the offer and your time