Hi, I have a problem with turtlebot3 simulation. In Gazebo the simulation is ok and realistic. In ignition, when my robot (burger or waffle) is going to the wall, the moves are completely random. The robot is balancing around the X, Y and Z axis, which is impossible.

Thanks

Goupil

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Configuration: ROS2 Humble / Ubuntu 22.04 / Ignition Fortress version 11.10.2. The problem seems to be the same with all versions of Ignition.

Commands used:

ros2 launch turtlebot3gazebo turtlebot3world.launch.py &

ros2 topic pub -r 5 /cmdvel geometrymsgs/msg/Twist '{linear: {x: 5, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}'

The robot is going straight to the wall and the problem starts here.