添加了一段运动控制代码后,在GAZEBO中打开后小车翻倒了,请问大佬究竟为什么啊?
[code=xml[code=
<gazebo>
<plugin name="skid_steer_drive_controller" filename="libgazebo_ros_skid_steer_drive.so">
<alwaysOn>true</alwaysOn>
<updateRate>5</updateRate>
<leftFrontJoint>wheel1_joint</leftFrontJoint>
<rightFrontJoint>wheel3_joint</rightFrontJoint>
<leftRearJoint>wheel2_joint</leftRearJoint>
<rightRearJoint>wheel4_joint</rightRearJoint>
<wheelSeparation>0.060</wheelSeparation>
<wheelDiameter>0.040</wheelDiameter>
<torque>20</torque>
<commandTopic>cmd_vel</commandTopic>
<odometryTopic>odom</odometryTopic>
<odometryFrame>odom</odometryFrame>
<robotBaseFrame>base_link</robotBaseFrame>
<broadcastTF>1</broadcastTF>
</plugin>
</gazebo>
][/code]]