# Revision history [back]

### libgazebo_ros_planar_move low rotational velocity

Hi,

I have a working omni-directional mobile robot in Gazebo 9/11 and ROS Melodic/Noetic. I use libgazebo_ros_planar_move to control the robot. Everything is working but when doing a rotation in place the rotational velocity is very low in Gazebo. If I for instance publish 3 rad/s to cmd_vel with RQT Robot Steering it still takes almost 30 sec to make one full rotation. Gazebo is running at 1x real-time factor, so there is no delay on that end. Is this a bug or something I am missing? I have been looking through the source of the planar move plugin, but nothing obvious here to me that should make it slow down.

### libgazebo_ros_planar_move low rotational velocity

Hi,

I have a working omni-directional mobile robot in Gazebo 9/11 and ROS Melodic/Noetic. I use libgazebo_ros_planar_move to control the robot. Everything is working but when doing a rotation in place the rotational velocity is very low in Gazebo. If I for instance publish 3 rad/s to cmd_vel with RQT Robot Steering it still takes almost 30 sec to make one full rotation. Gazebo is running at 1x real-time factor, so there is no delay on that end. Is this a bug or something I am missing? I have been looking through the source of the planar move plugin, but nothing obvious here to me that should make it slow down.

### libgazebo_ros_planar_move low rotational velocity

Hi,

I have a working omni-directional mobile robot in Gazebo 9/11 and ROS Melodic/Noetic. I use libgazebo_ros_planar_move to control the robot. Everything is working but when doing a rotation in place the rotational velocity is very low in Gazebo. If I for instance publish 3 rad/s to cmd_vel with RQT Robot Steering it still takes almost 30 sec to make one full rotation. Gazebo is running at 1x real-time factor, so there is no delay on that end. Is this a bug or something I am missing? I have been looking through the source of the planar move plugin, but nothing obvious here to me that should make it slow down.

Attached image shows the cmd_vel sent and the returned calculated odom from the plugin in Gazebo. Odom's angular velocity caps at around 0.22, while 3.0 is sent to cmd_vel. I expect both are represented in rad/s.