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My Robot Doesn't Move - What am I doing wrong?

asked 2020-01-27 22:40:14 -0500

Coach Allen gravatar image

Greetings,

I am have been working for days struggling through all the documentation and reading forums. All this to no avail.

My Failed Robot Gist Here

I can get the robot to load in RVIZ just fine. The Joints all rotate as expected. Once I get to Gazebo though, it just sort or rolls a tiny bit back and forth. I have a little window that pops up where I can induce some forward velocity on the left wheel.

But NOTHING happens. Would anyone be so kind to check out files in the Gist? I played with intertials and PIDs but NOTHING is working.

Cheers,

Coach

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Chirp Chirp

Coach Allen gravatar imageCoach Allen ( 2020-01-29 11:43:21 -0500 )edit

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answered 2020-01-31 09:09:58 -0500

kumpakri gravatar image

updated 2020-01-31 09:11:26 -0500

So the first error I see is that you do not load the joint_state_controller in the controller_spawner node.

ackerman.launch:

line: 13

<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" 
   output="screen" ns="/basic_frame_pig" args="joint_state_controller 
                                               front_left_wheel_controller"/>

After that the namespaces might be little challenging so if this isn't enough to make it work, I would look into the namespaces.

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answered 2020-01-31 07:04:07 -0500

ajal gravatar image

The inertial values of the wheel seems to be high. I'm not sure this is the problem. But to check if thats the issue you can try giving less inertia value (like 0.001) to neglect the effect of inertia on the physics for the time being.

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Asked: 2020-01-27 22:40:14 -0500

Seen: 156 times

Last updated: Jan 31