When I generate my urdf model in gazebo, the model cannot move(wheels are rotating) when the `` element of the joint connecting base_link and base_footprint is base_link and the `` element is base_footprint. But when I set the `` element to base_footprint and `` to base_link, the model can be moved in gazebo. And I made the robot move by posting a `Twist` message to `/cmd_vel`. The situation in this [issue](http://answers.gazebosim.org/question/17848/wheels-are-rotating-but-robot-is-not-moving/) is similar to mine
Here is the definition of my plugin *differential_drive_controller*:
>>>true >20 >base_to_left_wheel >base_to_right_wheel >0.6 >0.16 >1 >0 >>/cmd_vel >odom >odom >base_footprint >1 >true >true >false > >>>true >100.0 >base_link >simple_controller/absolute_position >0 >map >0 0 0 >0 0 0 > >
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