写一下gazebo差速驱动插件的代码
时间: 2023-03-15 09:07:41 浏览: 96
首先,你需要定义一个类,用于实现差速驱动插件:class DiffDrivePlugin : public ModelPlugin
{
public:
DiffDrivePlugin();
virtual ~DiffDrivePlugin();protected: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
virtual void Init();
virtual void UpdateChild();private:
// Pointer to the model
physics::ModelPtr model; // Pointer to the update event connection
event::ConnectionPtr updateConnection;
};接下来,你需要实现插件的Load()函数,用于获取模型和SDF元素的指针:void DiffDrivePlugin::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
{
// Store the model pointer
this->model = _model; // Listen to the update event. This event is broadcast every
// simulation iteration.
this->updateConnection = event::Events::ConnectWorldUpdateBegin(
boost::bind(&DiffDrivePlugin::UpdateChild, this));
}最后,你需要实现插件的UpdateChild()函数,用于更新驱动车辆的位置:void DiffDrivePlugin::UpdateChild()
{
// Get the left and right wheel velocities
double vr, vl;
vr = ...;
vl = ...; // Update the robot position based on the wheel velocities
...
}
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