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joshnewans / articubot_one

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The Robot is not moving Left or right #26

Open BooraKaushik opened 3 months ago

BooraKaushik commented 3 months ago

Hi Josh thanks a lot for the videos, They helped me a lot to understand ROS2 and how to build a differential drive bot. I am working on a 4 WD and have been following your tutorials until " Using ros2_control to drive our robot (off the edge of the bench...)" video. I am facing some trouble after changing to ros2_control, The issue is that my robot is not moving either left or right in gazebo but it seems to move in Rviz as expected. I have searched all the online resources but did not find anything that helps. here is the link to my repo GitHub - BooraKaushik/autobot Video of what is happening, IMG_5920.mov - Google Drive as you can see it is turning fine in rviz but not in gazebo.

I would really appreciate any help.

Bjoerns-TB commented 1 month ago

Hi,

I stumbled over the same problem. It seems like gazebo has problems with ros2_control and 4WD diff_drive. If you change the rsp launch_arguments to 'use_ros2_control': 'false' in lauch_sim.launch.py it should work. The downside is that your wheels will not turn equally with the gazebo diff drive plugin (observed in Rviz). With ros2_control this works fine.

But I just started my ROS2 adventures and currently I'am an absolute beginner.

PS: Thanks Josh for your videos and tutorials.