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The riding mower will require Ackermann steering model so you can turn with the front wheels.
Ackermann steering geometry is a geometric arrangement of linkages in the steering of a car or other vehicle designed to solve the problem of wheels on the inside and outside of a turn needing to trace out circles of different radii.
Source: https://en.wikipedia.org/wiki/Ackermann_steering_geometry
Take a look at this Gazebo plugin that you can adapt: https://github.com/froohoo/ackermansteer. And there is a good video that explains the application: https://www.youtube.com/watch?v=WlFdLkD3wa8
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The riding mower will require Ackermann steering model so you can turn with the front wheels.
Ackermann steering geometry is a geometric arrangement of linkages in the steering of a car or other vehicle designed to solve the problem of wheels on the inside and outside of a turn needing to trace out circles of different radii.
Source: https://en.wikipedia.org/wiki/Ackermann_steering_geometry
Take a look at this Gazebo plugin that you can adapt: https://github.com/froohoo/ackermansteer. And there is a good video that explains the application: https://www.youtube.com/watch?v=WlFdLkD3wa8
Another example: https://github.com/ros-simulation/gazebo_ros_pkgs/blob/dashing/gazebo_plugins/worlds/gazebo_ros_ackermann_drive_demo.world
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