Using body_link to move center of rotation in TrackedVehicle plugin

[iandresolares]

Environment

• OS Version: Ubuntu 22.04
• Binary build: v8.6.0 (Gazebo Sim Harmonic)

Description

Using TrackedVehicle to simulate a tracked vehicle. I would like to modify the center of rotation to be aligned to a specific point on the robot instead of the default link.
@peci1 suggested creating a link for this and setting body_link tag in the plugin configuration but it is not working for me, vehicle is still turning in respect to the base_link. This is my current configuration.

    <plugin name="gz::sim::systems::TrackedVehicle" filename="gz-sim-tracked-vehicle-system">
        <body_link><link>rotation_axis_link</link></body_link>
        <left_track><link>left_track</link></left_track>
        <right_track><link>right_track</link></right_track>
        <tracks_separation>1.375</tracks_separation>
        <tracks_height>0.5</tracks_height>
        <steering_efficiency>0.5</steering_efficiency>
        <odometry_publish_frequency>10</odometry_publish_frequency>
        <child_frame_id>rotation_axis_link</child_frame_id>
        <linear_velocity>
          <min_velocity>-2.2</min_velocity>
          <max_velocity>2.2</max_velocity>
          <min_acceleration>-1.3</min_acceleration> 
          <max_acceleration>1.3</max_acceleration>
        </linear_velocity>
        <angular_velocity>
          <min_velocity>-1.0</min_velocity>
          <max_velocity>1.0</max_velocity>
          <min_acceleration>-1.1</min_acceleration>
          <max_acceleration>1.1</max_acceleration>
        </angular_velocity>
    </plugin>

[peci1]

That's wrong syntax. The plugin expects

        <body_link>rotation_axis_link</body_link>

If it still doesn't work, start Gazebo with gz sim -v4 to get debug output and post the output here.

[peci1]

I've submitted PR #2652 that adds this tag to the system documentation (it was missing there for some reason).

[iandresolares]

That's wrong syntax. The plugin expects

        <body_link>rotation_axis_link</body_link>

If it still doesn't work, start Gazebo with gz sim -v4 to get debug output and post the output here.

That's it, that works perfectly, thank you very much. I close the issue.