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ROBOTIS-GIT / turtlebot3

ROS packages for Turtlebot3
http://turtlebot3.robotis.com
Apache License 2.0
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/odom returns zero velocity #687

Open ozgudum opened 3 years ago

ozgudum commented 3 years ago

ISSUE TEMPLATE ver. 0.4.0

  1. Which TurtleBot3 platform do you use?

    Waffle

  2. Which ROS is working with TurtleBot3? ROS 2 Foxy Fitzroy

  3. Which SBC(Single Board Computer) is working on TurtleBot3? Raspberry Pi 3B+

When I'm running TB3, I am always getting near zero values for /odom/twist. Is this expected? I would expect to get robot velocity in m/s. No issue with /odom/pose

header: stamp: sec: 1608235551 nanosec: 879066078 frame_id: odom child_frame_id: base_footprint pose: pose: position: x: 0.14691394855059656 y: 0.002690837393091869 z: 0.0 orientation: x: 0.0 y: 0.0 z: 0.00243727714663111 w: 0.9999970298356443 covariance: ... twist: twist: linear: x: -2.1876057909291433e-12 y: 0.0 z: 0.0 angular: x: 0.0 y: 0.0 z: 7.178701217325196e-13 covariance: ...

ROBOTIS-Will commented 3 years ago

Hi @ozgudum Thank you for reporting this issue. I'll look into the code and see what causes this problem. Thanks!

shanpenghui commented 3 years ago

Hi @ozgudum Have you resolve the problem? I have the same issue.

GyuH13 commented 5 days ago

This issue was raised so long ago that it is now challenging to address. Please refer to the updated manual, and if you have any further questions, feel free to open a new issue. Thanks.