Open y-masutani opened 7 months ago
After that, the action communication /omni_base_controller/follow_joint_trajectory
was also investigated, with similar results. Moreover, I confirmed that odometry /omni_base_controller/wheel_odom
was at the expected value.
See the windows of Gazebo and RViz (odometry) during the action communication. https://drive.google.com/file/d/1__IjnBgEoyqWRvjeIb3HsUSPJcFwTESI/view?usp=sharing
I found that the wheels and the floor are slipping in Gazebo.
When Twist.angular.z
command is given, base_roll_link
rotates with respect to base_link
, but base_link
does not rotate at all with respect to the floor because the wheels and the floor are slipping.
Watch the screencast to see how it works. It is displayed in wireframe for clarity.
Does this phenomenon reproduce in your environment? How can we solve this problem?
HSR in Gazebo for /omni_base_controller/command_velocity topic is very strange.
To clarify the issue, after launching the simulation, I ran the following command on another terminal in case of linear.x = 1.0.
Result:
See screencast for linear.y = 1.0. https://drive.google.com/file/d/1-8tSIVygn3Aq7K3vI5kEcAj2Co07CGmu/view?usp=sharing
How can I solve this problem? Has anyone else encountered this problem?