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DFKI-NI / mir_robot

ROS support for the MiR Robots. This is a community project to use the MiR Robots with ROS. It is not affiliated with Mobile Industrial Robots.
BSD 3-Clause "New" or "Revised" License
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Mir is not moving in a straight line. (mir+ur5) #54

Closed Emily194 closed 4 years ago

Emily194 commented 4 years ago

Hi. I am currently struggling with this issue and I have no idea why mir is not moving in a straight line. Do you know what could be the possible cause of error? Thank you! ezgif com-video-to-gif

mintar commented 4 years ago

Are you sure that the path is curving? Or is the start simply offset by a bit? It's a bit hard to tell by the video.

In my experiments, there is a slight offset at the start. This is caused by small perturbations in the simulation while the robot is at rest. However, the path is not significantly curved. Are any warnings printed to the terminal when you start your Gazebo simulation?

mir_robot_straight_line

mobipick_straight_line

mintar commented 4 years ago

Also, I've plotted the data via plotjuggler, and the path also looks to be straight:

plotjuggler