gazebo libgazebo_ros_diff_drive.so veers

asked 2019-09-18 10:04:10 -0600

Dave Barnett gravatar image

updated 2019-09-18 10:23:36 -0600

gvdhoorn gravatar image

I have been through several very similar basic tutorials for building a simulated mobile robot in Gazebo. They all consist of a pair of wheels, a chassis and a caster. In each case the vehicle is connected to the libgazebo_ros_diff_drive.so plugin.

I am trying to understand the behaviour. When I send a new speed demand (using teleop_twist_keyboard) the vehicle moves. I start the vehicle pointing along the x-axis. The speed demand that I apply is forwards. My expectation is that the vehicle should move exactly along the x-axis, since there should be no forces to rotate the vehicle. However, within 10m the vehicle has rotated by about 45deg.

Does the gazebo simulator add noise to the simulation/control? Is there some other explanation for this behaviour?

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Comments

In each case the vehicle is connected to the differential_drive_controller plugin.

please always link to the exact plugin/package you are using. There are several plugins that do similar things, but they are not identical.

Also: questions about the dynamics simulation of Gazebo would best be asked over at answers.gazebosim.org. Here we can discuss the ROS integration/plugins.

gvdhoorn gravatar image gvdhoorn  ( 2019-09-18 10:12:41 -0600 )edit

Plugin is libgazebo_ros_diff_drive.so

I'll post this over at gazebosim too.

Dave Barnett gravatar image Dave Barnett  ( 2019-09-18 10:20:09 -0600 )edit

Then please post a link here in a comment to that question, so we can keep things connected.

gvdhoorn gravatar image gvdhoorn  ( 2019-09-18 10:24:01 -0600 )edit

Post on Gazebo Answers: differential_drive_controller veers.

gvdhoorn gravatar image gvdhoorn  ( 2019-09-19 01:59:00 -0600 )edit
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