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Differential Drive ROS Plugin stops responding after reset_simulation or reset_world

asked 2014-01-04 10:35:06 -0600

MattDerry gravatar image

I have a basic differential drive robot that uses the differential drive ros plugin that stops responding after I call reset_simulation or reset_world. I'm using ROS Hydro and Gazebo 1.9. For context, I am trying to collect data on several sets of trajectories (100's of trajectories total), which is why I would like to be able to reset the simulator and drive the next trajectory automatically.

As far as I can tell, this has nothing to do with any code I have written. When I start up Gazebo and the model loads in an empty world, the model will respond to commands sent on /cmd_vel, even using rostopic pub, so I know it's not any problem with code I have written. After using rosservice call /gazebo/reset_simulation or reset_world, the position of the model is reset correctly and the simulation continues to run, but commands sent to /cmd_vel are ignored.

One hint that might be helpful, is that if I call reset_simulation, the /odom topic is no longer published to either, but if I call reset_world, the /odom topic continues to be published (and it indicates a tiny amount of movement in the model).

I'm not sure if this is a bug, or some sort of problem with the way I am specifying my model (it's a pretty simple model, so that seems unlikely), but I have replicated it on two different computers.

Has anyone else run into this issue? If so, how did you resolve it? If it is in fact a bug, where should I submit the bug report?

Thanks in advance for your time.

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answered 2014-02-12 12:04:36 -0600

Stefan Kohlbrecher gravatar image

I just also came across this issue (mildly annoying, but not critical to me). Seems like an issue with the diffdrive plugin. The correct place to file a ticket would be https://github.com/ros-simulation/gazeborospkgs/issues

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You might be right. I've submitted a ticket: https://github.com/ros-simulation/gazebo_ros_pkgs/issues/169

Ben B gravatar imageBen B ( 2014-02-18 15:40:41 -0600 )edit
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Asked: 2014-01-04 10:35:06 -0600

Seen: 1,247 times

Last updated: Feb 12 '14