gazebo wheeled robot moving slower than the real one

asked 2022-09-06 05:34:52 -0500

i am Trying to move gazebo and real robot simultaneously. when i start both at the same time, my real robot reaches earlier than the gazebo robot. if i let my real robot move linearly til the gazebo robot reaches to 1m, my real robot reaches 1.5, 1.8 sometimes 1.3 meters. i tried modifying frivtion values but didnt help. i have tried using yaml file and configured own differential drive params as well but didnt help. anyone help me out please..

hjere is the gazebo reference

<gazebo> <plugin name="turtlebot3_waffle_controller" filename="libgazebo_ros_diff_drive.so"> <commandtopic>/mobile_base_controller/cmd_vel</commandtopic> <odometrytopic>/mobile_base_controller/odom</odometrytopic> <odometryframe>/mobile_base_controller/odom</odometryframe> <odometrysource>world</odometrysource> <publishodomtf>false</publishodomtf> <robotbaseframe>base_footprint</robotbaseframe> <publishwheeltf>true</publishwheeltf> <publishtf>true</publishtf> <publishwheeljointstate>true</publishwheeljointstate> <legacymode>false</legacymode> <updaterate>30</updaterate> <leftjoint>left_joint</leftjoint> <rightjoint>right_joint</rightjoint> <wheelseparation>0.43</wheelseparation> <wheeldiameter>0.21</wheeldiameter> <wheelacceleration>1</wheelacceleration> <wheeltorque>20</wheeltorque> <rosdebuglevel>na</rosdebuglevel> </plugin> </gazebo>

<gazebo reference="base_link"> <material>Gazebo/DarkGrey</material> </gazebo>

<gazebo reference="left_wheel"> <mu1>0.1</mu1> <mu2>0.1</mu2> <mindepth>0.001</mindepth> <maxvel>3</maxvel> <fdir1>1 0 0</fdir1> <material>Gazebo/FlatBlack</material> </gazebo>

<gazebo reference="right_wheel"> <mu1>0.1</mu1> <mu2>0.1</mu2> <mindepth>0.001</mindepth> <maxvel>3</maxvel> <fdir1>1 0 0</fdir1> <material>Gazebo/FlatBlack</material> </gazebo>

edit retag flag offensive close merge delete