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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

Summit XL does not move in the desired path in Gazebo. #28

Open Eswar1991 opened 4 years ago

Eswar1991 commented 4 years ago

We are trying to move the summit xl in circular path in gazebo. However, the robot does not move in the desired path in gazebo; contrarily rviz shows that circular motion is achieved. The following gif files shows the inputs and outputs for this motion: Input: Linear velocity and radius

Output: image

We presume that the differential drive plugin of summit xl is not configured properly in gazebo. Any help on this issue would be appreciated. Thank you Link to gif file: https://lh3.googleusercontent.com/-CcvBoE5k4Q4/XuCFzD51-HI/AAAAAAAAAyY/qx6PJK7ddeoefovxrRAWztAZPb7iiOzxACK8BGAsYHg/s0/2020-06-10.gif

jgomezgadea commented 4 years ago

Hi @Eswar1991 ,

We are having a lot of problems with gazebo physics, we also have this one when we disable the planar plugin.

To correct that, we are not using the physics (the default option). Our purpose of the simulation is to test different algorithms that can work using the cmd_vel topic and odometry, so we don't need the physics.

Gazebo 9 improves a little bit that physics, but it is not enough to use the simulation correctly.

Sorry for the inconvenience.