Unable to rotate the robot using differential drive controller.
Hi,
I am using gazebo along side with ros. My robot can move back and forth as expected but i have hard time to rotate it. The robot weights about 180 kg (all the links above the wheels). All wheels rotate around joint positive x-axis.
my current values for friction are
<gazebo reference="c1_prismatic_link">
<mu1 value="0.2"/>
<mu2 value="0.2"/>
<material>Gazebo/DarkGrey</material>
<turnGravityOff>false</turnGravityOff>
</gazebo>
I have also tried different value for mu1, mu2 , fdir, kp, kd. But nothing worked.
<gazebo reference="c1_prismatic_link">
<mu1 value="200"/>
<mu2 value="100/>
<kp value="10000000.0" />
<kd value="1.0" />
<fdir>1 0 0 </fdir>
<material>Gazebo/DarkGrey</material>
<turnGravityOff>false</turnGravityOff>
</gazebo>
Here is my github link, video. In the video you can observe although wheels are rotating in opposite direction the robot simply moving forward or backward rather that rotating. I am happy to provide any information if needed. Any help is greatly appreciated.