Hello,

I believe there is a bug in the tricycle plugin. I'm testing the ROS2 Galactic version of the plugin: https://github.com/ros-simulation/gazebo_ros_pkgs/blob/galactic/gazebo_plugins/src/gazebo_ros_tricycle_drive.cpp which I believe is quite similar to the ROS1 version. For this test, I'm using the demo of the Tricycle plugin:

https://github.com/ros-simulation/gazebo_ros_pkgs/blob/galactic/gazebo_plugins/worlds/gazebo_ros_tricycle_drive_demo.world

I recorded a video of the behavior which you can see in the following Youtube video:

https://youtu.be/cjPqbctgsDY

As you can see in the video, it is impossible to control a tricycle robot in linear speed and angular position at the same time.

Any ideas of why is this happening?

Best,