wheel rotates, but robot moves slowly
I was trying to send cmd_vel command to a diff-drive robot in gazebo as in http://www.generationrobots.com/blog/... 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
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?
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 <plugin name="ros_control" filename="libgazebo_ros_control.so"/> The wheels would spin but the base moved very slowly.
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/set...