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

asked 2018-10-30 07:59:01 -0500

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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??

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answered 2018-11-01 14:56:31 -0500

IVAN gravatar image

I solved it!!!... The reason was that the new version (ROS Melodic ) does not support the "legacy mode" tag

" GazeboRosDiffDrive Plugin missing <legacymode>, 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!!!

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Asked: 2018-10-30 07:59:01 -0500

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Last updated: Nov 01 '18