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RobotnikAutomation / summit_xl_sim

Packages for the simulation of the Summit XL, Summit XL HL and Summit-X (including X-WAM) robots
BSD 2-Clause "Simplified" License
67 stars 41 forks source link

Robot turns with no velocity commands #18

Open grafoteka opened 5 years ago

grafoteka commented 5 years ago

Hi all!, I've just download the package and install it at the instructions. I compile it and everything is perfect.

But when I launch the simulation (with just one Summit, I have no test with more) it starts to turn counterclockwise without given to it any cmd_vel.

Here are 2 videos were you can appreciate it.

Video1 and video2.

How can I solve it?

I'm on Ubuntu 16.04 and I have update Gazebo to 7.14

Thank you, Jorge

RomanRobotnik commented 5 years ago

Hi Jorge,

Thanks for reporting the issue. If you set the launch argument localization_robot_a to false, the problem disappears. roslaunch summit_xl_sim_bringup summit_xl_complete.launch localization_robot_a:=false

This argument enables the execution of the ekf_localization_node that fuses odometry and imu to provide a better odom estimation. It looks that something is wrong with the config so it's better not to use it. I will disable this option by default.

Best regards,

Román

grafoteka commented 5 years ago

Hi Román,

Thank you for your solution. It solves the problem of turning without giving any move command to the robot.

Nevertheless, the problem now is that the Summit drifts a lot in Gazebo (that happens also before), but as there's no IMU now, it gets crazy in RViz, spinning a lot because odometry saids that is turning so much, but really, it hasn't turn too much because is drifting in Gazebo.

Do you think is possible to improve the reaction of the robot in Gazebo and reduce the drift?

Kinds regards, Jorge

grafoteka commented 5 years ago

I have test the robot with the other IMU sensor:

The problem of turning seems to be solved. But I don't if this is the solution. Kinds regards, Jorge
RomanRobotnik commented 5 years ago

You mean witn the robot_localization enabled plus the other IMU sensor?.

Right now I don't know how to reduce the drift in Gazebo.

Regards,

Román