Hello. I am new in the use of ROS-Gazebo simulation. I'm using simulation with model p3dx in ROS Indigo and Gazebo 2.x in Ubuntu 14.04 64bits. I'm struggling with the difference between: a) the cmd_vel.angular.z values (value sent to the robot) and b) the odom.twist.twist.angular.z (value obtained from odometry), after stabilize the speed, exacly as link image: cmd_vel_vs_odometry
In the model p3dx using the differential-drive library, for which the sending angular velocity values (cmd_vel / angle / z). I wonder if this can be solved with configuration or is a platform of error.
Below the library insertion section in "pioneer3dx.gazebo":
<plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so">
<alwaysOn>true</alwaysOn>
<updateRate>100</updateRate><!-- original = 100 -->
<leftJoint>base_right_wheel_joint</leftJoint>
<rightJoint>base_left_wheel_joint</rightJoint>
<wheelSeparation>0.39</wheelSeparation>
<wheelDiameter>0.15</wheelDiameter>
<torque>5</torque>
<commandTopic>cmd_vel</commandTopic>
<odometryTopic>odom</odometryTopic>
<odometryFrame>odom</odometryFrame>
<robotBaseFrame>base_link</robotBaseFrame>
</plugin>
