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lprobsth / gazebo_ros_tracked_vehicle_interface

This plugin makes the Gazebo SimpleTrackedVehicle Plugin available in ROS.
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Orientation inaccurate #9

Open Rob-Dawson opened 3 weeks ago

Rob-Dawson commented 3 weeks ago

When using the encoders, the position of the robot moving forwards and backwards seems to be very accurate. When turning however, it is very inaccurate. I'm wondering if the true track speed or the angular velocity is incorrect

lprobsth commented 2 weeks ago

I'm currently not using this plugin (simulation is not our focus right now).

I'll try looking into this issue. However, it's probably difficult without further information. This could be caused by my code, the surface slipage, ...

I'lll send an update when I find something out.

Rob-Dawson commented 2 weeks ago

No worries. I've tried with the standard tracked_vehicle_simple.world which comes with Gazebo. Looking at the position provided in Gazebo against the odom visualised in RVIZ, there is a noticable inaccuracy when turning. I've output the real angular velocity using WorldAngularVel and the odom angular velocity and these are quite different. I'm unsure if this is a problem with this package or the original Gazebo package. I'm looking into this also as i'm attempting to redevelop it for use with ROS2