Husky wheels don't turn below a threshold

asked 2019-03-28 02:43:45 -0500

I'm trying to test a custom local planner on a Husky on Gazebo. The Husky responds well to angular and linear velocities commanded by tele-operation. However, the Husky doesn't respond when the angular velocity commanded by move_base is below 0.25 m/sec. It does respond to the linear velocity commanded by move_base.

I tried changing the friction parameters and fdir parameters but to no avail. Please find below an excerpt of the URDF file pertaining to the wheel simulation parameters:

<gazebo reference="${wheel_prefix}_wheel_link">
        <mu1 value="0.3"/>
        <mu2 value="0.3"/>
        <kp value="10000000.0" />  
        <kd value="0.75" /> <!-- was 1 -->
        <fdir1 value="1 0 0"/>
    </gazebo>

    <joint name="${wheel_prefix}_wheel" type="continuous">
        <parent link="base_link"/>
        <child link="${wheel_prefix}_wheel_link"/>
        <xacro:insert_block name="joint_pose"/>
        <axis xyz="0 1 0" rpy="0 0 0" />
    </joint>

    <transmission name="${wheel_prefix}_wheel_trans" type="SimpleTransmission">
        <type>transmission_interface/SimpleTransmission</type>
        <actuator name="${wheel_prefix}_wheel_motor">
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
        <joint name="${wheel_prefix}_wheel">
            <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
        </joint>
    </transmission>

How do I get the wheels to respond at all angular velocities? Thank you in advance!

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