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Positive Rotation of model is not anticlockwise? why?

asked 2021-05-28 20:27:05 -0500

shiraz_baig gravatar image

updated 2021-06-03 03:45:56 -0500

I am using melodic and ubuntu 18.04 and gazebo-9.
Problem: When I give the command of turning the Yaw (angle around z axis) as a positive value eg (+0.3), the model should rotate anticlockwise (ie towards its left). But it is moving clockwise.
Question: Why, my robot does not rotate anticlockwise, when I give it a positive rotation command?

I downloaded urdf file of a model (two-wheeled robot) from part1 of
this site and added plugin ""
My launch file is as follows:

<xml version="1.0" encoding="UTF-8"?>
    <param name="robot_description" command="$(find xacro)/ '$(find m2wr_description)/urdf/m2wr_website.urdf'" >

    <arg name="x" default="0"/>
    <arg name="y" default="0"/>
    <arg name="z" default="0.5"/>

    <include file="$(find gazebo_ros)/launch/empty_world.launch">

    <node name="mybot_spawn" pkg="gazebo_ros" type="spawn_model" output="screen"          args="-urdf -param robot_description -model m2wr -x $(arg x) -y $(arg y) -z $(arg z)" />

I am setting rotation of the model from this python script, using topic=cmd_vel and creating a publisher node. I tried to give the code of my script here. But I think, my length exceeds, so I am not including it.

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answered 2021-06-03 03:45:05 -0500

The model defines the right wheel on the left and the left wheel on the right. Swap the sign of the y-position in the wheel joints.

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Thankyou very much. Now, It works fine.

shiraz_baig gravatar imageshiraz_baig ( 2021-06-03 10:52:32 -0500 )edit
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Asked: 2021-05-28 20:27:05 -0500

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Last updated: Jun 03 '21