Positive linear velocity causes stretch to move backwards in gazebo.

hello-robot / stretch_ros

ROS packages for the Stretch mobile manipulators from Hello Robot Inc.

https://docs.hello-robot.com/0.2/stretch-tutorials/ros1/

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Positive linear velocity causes stretch to move backwards in gazebo. #87

Closed NateWright closed 1 year ago

NateWright commented 1 year ago

Hi, I have been working more with stretch in simulation and have noticed a message like rostopic pub -r 60 /stretch_diff_drive_controller/cmd_vel geometry_msgs/Twist "linear: x: 0.1 y: 0.0 z: 0.0 angular: x: 0.0 y: 0.0 z: 0.0" will cause the robot to move backwards which I believe is not intentional. Screencast from 01-11-2023 04:38:52 PM.webm

hello-binit commented 1 year ago

Thanks @NateWright, I'll look into this.

hello-fazil commented 1 year ago

@NateWright Thank you for pointing out this issue. We found a bug in the wheel joints URDF definition causing this behavior in the gazebo, which is now rectified with this push. Let us know if you need further help.