Replaced diff drive controller to gazebo plugin and remap cmd_vel topic

Signed-off-by: Darby Lim <thlim@robotis.com>

turtlebot3_manipulation_bringup/config/gazebo_controller_manager.yaml

@@ -6,9 +6,6 @@ controller_manager:
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
 
-    diff_drive_controller:
-      type: diff_drive_controller/DiffDriveController
-
     imu_broadcaster:
       type: imu_sensor_broadcaster/IMUSensorBroadcaster
 
@@ -18,65 +15,6 @@ controller_manager:
     gripper_controller:
       type: position_controllers/GripperActionController
 
-diff_drive_controller:
-  ros__parameters:
-    use_sim_time: True
-
-    left_wheel_names: ["wheel_left_joint"]
-    right_wheel_names: ["wheel_right_joint"]
-
-    wheel_separation: 0.287
-    #wheels_per_side: 1  # actually 2, but both are controlled by 1 signal
-    wheel_radius: 0.033
-
-    wheel_separation_multiplier: 1.0
-    left_wheel_radius_multiplier: 1.0
-    right_wheel_radius_multiplier: 1.0
-
-    publish_rate: 100.0
-    odom_frame_id: odom
-    base_frame_id: base_footprint
-    pose_covariance_diagonal : [0.001, 0.001, 0.001, 0.001, 0.001, 0.01]
-    twist_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.01]
-
-    open_loop: true
-    enable_odom_tf: true
-
-    cmd_vel_timeout: 0.5
-    #publish_limited_velocity: true
-    use_stamped_vel: false
-    #velocity_rolling_window_size: 10
-
-    # Preserve turning radius when limiting speed/acceleration/jerk
-    preserve_turning_radius: true
-
-    # Publish limited velocity
-    publish_cmd: true
-
-    # Publish wheel data
-    publish_wheel_data: true
-
-    # Velocity and acceleration limits
-    # Whenever a min_* is unspecified, default to -max_*
-    linear.x.has_velocity_limits: true
-    linear.x.has_acceleration_limits: true
-    linear.x.has_jerk_limits: false
-    linear.x.max_velocity: 0.26
-    linear.x.min_velocity: -0.26
-    linear.x.max_acceleration: 1.0
-    linear.x.max_jerk: 0.0
-    linear.x.min_jerk: 0.0
-
-    angular.z.has_velocity_limits: true
-    angular.z.has_acceleration_limits: true
-    angular.z.has_jerk_limits: false
-    angular.z.max_velocity: 1.82
-    angular.z.min_velocity: -1.82
-    angular.z.max_acceleration: 4.0
-    angular.z.min_acceleration: -4.0
-    angular.z.max_jerk: 0.0
-    angular.z.min_jerk: 0.0
-
 imu_broadcaster:
   ros__parameters:
     use_sim_time: True

turtlebot3_manipulation_bringup/launch/base.launch.py

@@ -125,6 +125,7 @@ def generate_launch_description():
                 {'robot_description': urdf_file},
                 controller_manager_config
             ],
+            remappings=[('~/cmd_vel_unstamped', 'cmd_vel')],
             output={
                 'stdout': 'screen',
                 'stderr': 'screen',
@@ -144,6 +145,7 @@ def generate_launch_description():
             executable='spawner.py',
             arguments=['diff_drive_controller'],
             output='screen',
+            condition=UnlessCondition(use_sim)
         ),
 
         Node(

turtlebot3_manipulation_description/gazebo/turtlebot3_waffle_pi.gazebo.xacro

@@ -66,6 +66,28 @@ https://github.com/ROBOTIS-GIT/turtlebot3/blob/kinetic-devel/turtlebot3_descript
     </sensor>
   </gazebo>
 
+  <gazebo>
+    <plugin name='diff_drive' filename='libgazebo_ros_diff_drive.so'>
+      <ros>
+        <namespace></namespace>
+        <remapping>cmd_vel:=cmd_vel</remapping>
+        <remapping>odom:=odom</remapping>
+      </ros>
+
+      <left_joint>wheel_left_joint</left_joint>
+      <right_joint>wheel_right_joint</right_joint>
+      <wheel_separation>0.287</wheel_separation>
+      <wheel_diameter>0.066</wheel_diameter>
+      <max_wheel_torque>20</max_wheel_torque>
+      <max_wheel_acceleration>1.0</max_wheel_acceleration>
+      <publish_odom>true</publish_odom>
+      <publish_odom_tf>true</publish_odom_tf>
+      <publish_wheel_tf>false</publish_wheel_tf>
+      <odometry_frame>odom</odometry_frame>
+      <robot_base_frame>base_footprint</robot_base_frame>
+    </plugin>
+  </gazebo>
+
   <gazebo reference="${prefix}base_scan">
     <material>Gazebo/FlatBlack</material>
     <sensor type="ray" name="lds_lfcd_sensor">