wheel rotates, but robot moves slowly
I was trying to send cmdvel command to a diff-drive robot in gazebo as in http://www.generationrobots.com/blog/en/2015/02/robotic-simulation-scenarios-with-gazebo-and-ros/ After some work, I was able to make two wheels rotate according to cmdvel message. However, the robot moves extremely slowly. Is there any parameter I should tune to make it move normally? Thanks a lot
Asked by ylin122 on 2017-08-31 22:37:55 UTC
Answers
This happened to me recently. The movement of the robot was not smooth, the wheels used to slip. I positioned the caster wheels such that there is a gap (<1mm) between the caster wheel and the ground. After this change, the robot is moving smoothly.
Asked by Anand George on 2019-12-30 10:18:42 UTC
Comments
So to specify, you see the wheels rotate as fast as you like but the vehicle itself barely moves? Does it feel like the wheels are on ice and slipping quite a lot?
Asked by Raskkii on 2018-02-01 09:25:33 UTC
It sounds like the behavior I saw here:
https://answers.ros.org/question/284241/mobile-arm-simulation-behaves-strangely-when-adding-ros_control-plugin-for-arm/
The robot moved quickly when the arm I attached to the base was not using any controller for the arm (that is, the wheels made the base move as expected). When I added a plugin for arm control
The wheels would spin but the base moved very slowly.
Asked by raequin on 2018-03-21 10:02:56 UTC
I suffered the same issue with ROS Kinetic and Gazebo 7. I fixed it with installing Gazebo 9. If someone has the same issue, try to upgrade Gazebo. I followed the instructions described in https://medium.com/@abhiksingla10/setting-up-ros-kinetic-and-gazebo-8-or-9-70f2231af21a
Asked by damul73 on 2019-03-20 08:00:31 UTC