Tricycle drive plugin: Impossible to control linear and angular speed at the same time

asked 2022-05-10 20:59:10 -0500

andrestoga gravatar image


I believe there is a bug in the tricycle plugin. I'm testing the ROS2 Galactic version of the plugin: which I believe is quite similar to the ROS1 version. For this test, I'm using the demo of the Tricycle plugin:

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

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?


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