Issues with controlling gazebo_ros_pkgs example ackermann robot

asked 2021-03-28 17:18:10 -0500

Snoopy706 gravatar image

updated 2021-03-30 23:21:55 -0500

Hello, I am currently trying to control the demo ackermann robot that gazebo_ros_pkgs recently added. I however seem to be having issues with applying forces to the back wheels of this model. When I use the joint wrench service call to apply a force, that force only seems to be applied correctly to the back wheels 30 to 40 percent of the time. It is important to note that I am applying the same parameters every time that I execute this command. With that being said, has anyone else had this problem and if so how did you go about fixing it?

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I wonder if it has anything to do with the physics settings being used? I ran into an issue where I cannot first launch a world file that has the physics defined and then spawn a model that includes the ackermann plugin, I believe that it's caused by it needing the world defined in the same model that the plugin is in.

bperseghetti gravatar imagebperseghetti ( 2021-03-31 12:00:50 -0500 )edit