Uploaded December 2016 | Updated September 2026, 2 hours ago
This is a full physical simulation of a tracked vehicle.
Each wheel has gear teeth which intermesh with the gaps between the track plates.
There isn't any suspension, no tensioning between the drive wheels, and the friction coefficients might be too low, which results in a poor ability to climb up obstacles.
There is also a bug in bullet_server where fixed constraints aren't being handled properly, so I've used hinges instead with small angular limits.
github.com/lucasw/simple_sim_ros
also clone github.com/mogumbo/rviz_lighting
sudo apt install ros-melodic-pid
then build and run:
roslaunch bullet_server bullet_server.launch
rosrun bullet_server ground_plane.py _ns:=bullet_server
roslaunch bullet_server tracked_vehicle.launch
This is a full physical simulation of a tracked vehicle.
Each wheel has gear teeth which intermesh with the gaps between the track plates.
There isn't any suspension, no tensioning between the drive wheels, and the friction coefficients might be too low, which results in a poor ability to climb up obstacles.
There is also a bug in bullet_server where fixed constraints aren't being handled properly, so I've used hinges instead with small angular limits.
github.com/lucasw/simple_sim_ros
also clone github.com/mogumbo/rviz_lighting
sudo apt install ros-melodic-pid
then build and run:
roslaunch bullet_server bullet_server.launch
rosrun bullet_server ground_plane.py _ns:=bullet_server
roslaunch bullet_server tracked_vehicle.launch
