libgazebo_ros_planar_move low rotational velocity

asked 2020-10-22 02:32:31 -0600

robotlab
23 ●5 ●6 ●11

updated 2020-10-22 03:29:51 -0600

Hi,

I have a working omni-directional mobile robot in Gazebo 9/11 and ROS Melodic/Noetic. I use libgazebo_ros_planar_move to control the robot. Everything is working but when doing a rotation in place the rotational velocity is very low in Gazebo. If I for instance publish 3 rad/s to cmd_vel with RQT Robot Steering it still takes almost 30 sec to make one full rotation. Gazebo is running at 1x real-time factor, so there is no delay on that end. Is this a bug or something I am missing? I have been looking through the source of the planar move plugin, but nothing obvious here to me that should make it slow down.

Attached image shows the cmd_vel sent and the returned calculated odom from the plugin in Gazebo. Odom's angular velocity caps at around 0.22, while 3.0 is sent to cmd_vel. I expect both are represented in rad/s.

image description

edit retag flag offensive close merge delete

add a comment

Comments

I will try that, but from what I understood about the planar move plugin is that it disables physics for the robot anyway, so friction parameters are disregarded hence there is no dragging of the wheels. I can basically make the robot levitate, and it would behave the same way.

robotlab ( 2020-10-25 05:42:38 -0600 )edit

Additionally, the translational movement is correct moving at expected 1 m/s 🤔

robotlab ( 2020-10-25 06:06:22 -0600 )edit

add a comment

libgazebo_ros_planar_move low rotational velocity

1 Answer

Comments

Question Tools

Stats

Related questions

libgazebo_ros_planar_move low rotational velocity edit

1 Answer

Comments

Question Tools

Stats

Related questions

libgazebo_ros_planar_move low rotational velocity