Home | Tutorials | Wiki | Issues
Ask Your Question

My robot is driving to slow with gazebo_ros_diff_drive

asked 2014-01-14 07:56:08 -0500

Markus Bader gravatar image


My simulated pioneer robot is going to slow with the gazeborosdiff_drive It think there is a math error :-)


gazebo 2.2.1, ros hydro, ubuntu 12.04 64bit

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2014-01-14 08:01:45 -0500

Markus Bader gravatar image


I figured it out there was a math problem: The wheel velocity was computed incorrect. The wheel speed has to be divided by the radius and not the diameter. changing the lines 309/310 to solved my problem

joints_[LEFT]->SetVelocity(0, wheel_speed_[LEFT] / (wheel_diameter_ / 2.0));
joints_[RIGHT]->SetVelocity(0, wheel_speed_[RIGHT] / (wheel_diameter_ / 2.0));

I will make a pull request for my solution

Greetings Max

edit flag offensive delete link more
Login/Signup to Answer

Question Tools


Asked: 2014-01-14 07:56:08 -0500

Seen: 275 times

Last updated: Jan 14 '14