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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

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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

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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

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