Gazebo 9 ROS Melodic - diff robot pluggin rotates robot in the incorrect direction

I have installed ROS Melodic, and have noticed that when I send "cmd_vel" commands with a positive sign for the rotational velocity the robot rotates clockwise.... This does not happen in ROS kinetic (Gazebo 7)..

It also affects other nodes such as "move_base",,,

Does anybody knows how to solve this??

Asked by IVAN on 2018-10-30 07:59:01 UTC

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Answers

I solved it!!!... The reason was that the new version (ROS Melodic https://github.com/ros-simulation/gazebo_ros_pkgs/blob/melodic-devel/gazebo_plugins/src/gazebo_ros_diff_drive.cpp ) does not support the "legacy mode" tag

" GazeboRosDiffDrive Plugin missing , defaults to true This setting assumes you have a old package, where the right and left wheel are changed to fix a former code issue "

Updating my urdf model fixed the problem!!!

Asked by IVAN on 2018-11-01 14:56:31 UTC