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Robot moving at slower velocity in Gazebo (gazebo output velocity is half of cmd_vel)

Dear all C:\fakepath\Screenshot from 2021-04-05 18-18-54.png I am simulating a mobile manipulator (warthog UGV and UR10e) in Gazebo 9.16.0 and ROS melodic. For the robot base, I am using diff_drive_controller and for the arm I am using Effort_controller. I have modified a little bit in the URDF of warthog UGV. I have added dynamics damping and friction value in urdf to restrict the free fall of arm and chassis. Using the cmd_vel topic, I am providing 2m/s linear velocity in x direction. But, robot is moving slowly, at half of the input speed in Gazebo. I have tried changing and deleting the mu1, mu2, kp, kd and fdir1 values and also manually setting the PID values <<front_left_wheel_joint: {p:="" 100.0,="" i:="" 0.01,="" d:="" 0.001}&gt;&gt;="" please="" help="" me,="" i="" cant="" find="" the="" problem.="" <="" p="">

Robot moving at slower velocity in Gazebo (gazebo output velocity is half of cmd_vel)

Dear all C:\fakepath\Screenshot from 2021-04-05 18-18-54.png I am simulating a mobile manipulator (warthog UGV and UR10e) in Gazebo 9.16.0 and ROS melodic. For the robot base, I am using diff_drive_controller and for the arm I am using Effort_controller. I have modified a little bit in the URDF of warthog UGV. I have added dynamics damping and friction value in urdf to restrict the free fall of arm and chassis. Using the cmd_vel topic, I am providing 2m/s linear velocity in x direction. But, robot is moving slowly, at half of the input speed in Gazebo. I have tried changing and deleting the mu1, mu2, kp, kd and fdir1 values and also manually setting the PID values <<front_left_wheel_joint: {p:="" 100.0,="" i:="" 0.01,="" d:="" 0.001}&gt;&gt;="" please="" help="" me,="" i="" cant="" find="" the="" problem.="" <="" p="">

edit 1: I have tried the simulation without loading the arm controller. I have no idea what is wrong with the effort controller, no warning or error. Previously, I tried Position controller but it didn't work.

Robot moving at slower velocity in Gazebo (gazebo output velocity is half of cmd_vel)

Dear all C:\fakepath\Screenshot from 2021-04-05 18-18-54.png I am simulating a mobile manipulator (warthog UGV and UR10e) in Gazebo 9.16.0 and ROS melodic. For the robot base, I am using diff_drive_controller and for the arm I am using Effort_controller. I have modified a little bit in the URDF of warthog UGV. I have added dynamics damping and friction value in urdf to restrict the free fall of arm and chassis. Using the cmd_vel topic, I am providing 2m/s linear velocity in x direction. But, robot is moving slowly, at half of the input speed in Gazebo. I have tried changing and deleting the mu1, mu2, kp, kd and fdir1 values and also manually setting the PID values <<front_left_wheel_joint: {p:="" 100.0,="" i:="" 0.01,="" d:="" 0.001}&gt;&gt;="" please="" help="" me,="" i="" cant="" find="" the="" problem.="" <="" p="">

edit 1: I have tried the simulation without loading the arm controller. controller and robot velocity is working as expected. I have no idea what is wrong with the effort controller, no warning or error. Previously, I tried Position controller but it didn't work.