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Diff_Drive and control node breaks continuous joints

I have followed the common tutorials and run into a problem integrating my work. I have 2 things I created, a 2-wheeled drive robot with a caster and a controller node to drive a robot via cmd_vel. The controller node works well on the husky robot. When I try to use my designed URDF robot and my controller node the driving wheels appear at the origin. If I launch a world without the controller node the wheels appear fine. Catkin clean also seems to fix the problem for maybe 1 launch (where I can control the robot and use my URDF robot). In other weird cases I have seen the catkin clean breakymy controller code and then that lets the wheels render normally.. Its an odd bug that is changing behavior.

see github for the code. Mycontroller and mybot repos. Let me know if posting code is preferred.. it would just be verbose.

https://github.com/MarkPiccirilli/my_bot

https://github.com/MarkPiccirilli/mybot_controller

Asked by pondr on 2019-08-01 10:21:20 UTC

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