fuji_mecanum

---

Mecanum Wheel FM202-205-15U-R/L (FUJI) gazebo model description.

Usage

How to build fuji mecanum in your robot.

<?xml version="1.0" ?>
<robot name="mecanum_wheel_robot" xmlns:xacro="http://ros.org/wiki/xacro">

  ....

  <!-- include mecanum_wheel macro -->
  <xacro:include filename="$(find fuji_mecanum)/urdf/mecanum_wheel_macro.xacro" />
  <!-- load macro -->
  <!-- name: link name -> ${name}_wheel_link -->
  <!-- side: mecanum wheel direct 1: right, -1: left -->
  <xacro:mecanum_wheel name="right" side="1" />
  <xacro:mecanum_wheel name="left" side="1" />

  <joint name="right_joint_name" type="fixed">    
    <parent link="parent" />
    <child link="right_wheel_link" />
  </joint>

  <joint name="left_joint_name" type="fixed">    
    <parent link="parent" />
    <child link="left_wheel_link" />
  </joint>

  ....

</robot>

Test

• Gazebo simulation

  

  # Gazemo GUI launch
  $ roslaunch fuji_mecanum gazebo_test_robot_launch

  # mecanum control node
  $ rosrun fuji_mecanum test_mecanum_robot.py

  $ rostopic pub /cmd_vel geometry_msgs/Twist "linear:
    x: 1.0
    y: 0.0
    z: 0.0
  angular:
    x: 0.0
    y: 0.0
    z: 0.0"