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wheel rotates, but robot moves slowly

asked 2017-08-31 22:37:55 -0500

ylin122 gravatar image

I was trying to send cmd_vel command to a diff-drive robot in gazebo as in After some work, I was able to make two wheels rotate according to cmd_vel message. However, the robot moves extremely slowly. Is there any parameter I should tune to make it move normally? Thanks a lot

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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?

Raskkii gravatar imageRaskkii ( 2018-02-01 08:25:33 -0500 )edit

It sounds like the behavior I saw here: 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 <plugin name="ros_control" filename=""/> The wheels would spin but the base moved very slowly.

raequin gravatar imageraequin ( 2018-03-21 10:02:56 -0500 )edit

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

damul73 gravatar imagedamul73 ( 2019-03-20 08:00:31 -0500 )edit

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answered 2019-12-30 09:18:42 -0500

Anand George gravatar image

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.

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Asked: 2017-08-31 22:37:55 -0500

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Last updated: Dec 30 '19