remember to install gazebo_ros pkgs

README.md

@@ -10,6 +10,8 @@ Please see the [Problems Area](https://github.com/CesMak/bb/wiki/Simulation#Prob
 * Gazebo 7
 * ROS - Kinetic
 * Ubuntu 16.04 LTS
+* `ros-kinetic-gazebo-ros`
+* `ros-kinetic-gazebo-ros-control`
 
 I only tested the simulation with Gazebo 7 and ROS - Kinetic.
 

src/ballbot/bb_descrpition/urdf/bb.urdf_double_wheel.xacro

@@ -89,27 +89,17 @@
  <limit effort="${XM430_W350_R_max_effort}" velocity="${XM430_W350_R_max_velocity}" />
  <dynamics friction="${wheel_joint_friction}" damping="${wheel_joint_damping}" />
  </joint>
+
  <link name="wheel${pos}_link">
  <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
  <geometry>
- <mesh filename="package://ballbot_description/meshes/wheels/Wheel2_Double_ohneRaeder.stl" scale="0.001 0.001 0.001" />
+ <mesh filename="package://ballbot_description/wheel.stl" scale="0.001 0.001 0.001" />
  </geometry>
- <cast_shadows>1</cast_shadows>
- <transparency>0</transparency>
- <material name="light_black" />
  </visual>
  <inertial>
- <origin xyz="0.0 0.0 0.0" />
  <mass value="${mass_wheel}" />
- <inertia ixx="${d_inertia_wheel_xx}" ixy="0.0" ixz="0.0" iyy="${d_inertia_wheel_yy_zz}" iyz="0.0" izz="${d_inertia_wheel_yy_zz}" />
+ <inertia ixx="2.75e-5" ixy="0.0" ixz="0.0" iyy="1.718e-5" iyz="0.0" izz="1.718e-5" />
  </inertial>
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://ballbot_description/meshes/wheels/Wheel2_Double_ohneRaeder.stl" scale="0.001 0.001 0.001" />
- </geometry>
- </collision>
  </link>
  </xacro:macro>