Describe the bug
I've been struggling with commanding the freight robot in gazebo. I had noticed that the full fetch robot worked fine, so I started looking into the differences between them until I could determine the issue.
As it turns out, the freight robot just needed some casters to be controlled reasonably.
To Reproduce
To reproduce the error, build fetch_gazebo on branch gazebo11 for ROS Noetic on Ubuntu 20.04.
Describe the bug I've been struggling with commanding the freight robot in gazebo. I had noticed that the full
fetch
robot worked fine, so I started looking into the differences between them until I could determine the issue. As it turns out, thefreight
robot just needed some casters to be controlled reasonably.To Reproduce To reproduce the error, build
fetch_gazebo
on branchgazebo11
for ROS Noetic on Ubuntu 20.04.On one terminal, launch the simulation:
On a second terminal, launch teleop:
Request the robot to move forward by pressing
i
on the keyboard.Expected behavior The robot should go forward.
Screenshots
Robot without casters (it doesn't even move forward, it ends up curving over time and has lots of jitter):
Robot with casters (similar to the navigation of the full robot):
catkin workspace (please complete the following information):
Solution Add the following to
freight.gazebo.xacro
: