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My robot is driving to slow with gazebo_ros_diff_drive

asked 2014-01-14 07:56:08 -0600

Markus Bader gravatar image


My simulated pioneer robot is going to slow with the gazeborosdiff_drive It think there is a math error :-)


gazebo 2.2.1, ros hydro, ubuntu 12.04 64bit

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answered 2014-01-14 08:01:45 -0600

Markus Bader gravatar image


I figured it out there was a math problem: The wheel velocity was computed incorrect. The wheel speed has to be divided by the radius and not the diameter. changing the lines 309/310 to solved my problem

joints_[LEFT]->SetVelocity(0, wheel_speed_[LEFT] / (wheel_diameter_ / 2.0));
joints_[RIGHT]->SetVelocity(0, wheel_speed_[RIGHT] / (wheel_diameter_ / 2.0));

I will make a pull request for my solution

Greetings Max

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Asked: 2014-01-14 07:56:08 -0600

Seen: 511 times

Last updated: Jan 14 '14