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neobotix / neo_simulation2

ROS 2 simulation packages for the Neobotix robots
MIT License
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[neo_simulation2] MP400 simulation - bot only goes in one direction in neo_track1 #67

Closed VineetTambe closed 1 year ago

VineetTambe commented 1 year ago

Hey,

I am trying to use a custom map for robot simulation. However when I run the simulation and give goal through rviz - the bot can only go forwards and does not rotate/turn to go to goals that are behind the robot.

The same behavior was observed when I run the simulation with the MAP_NAME=neo_track1. Everything runs smoothly if I use the mpo_700 on my custom map or neo_track1. I validated this by cloning and setting up the entire simulation repos again.

Is there anything that I am doing wrong? Any help would be greatly appreciated.

padhupradheep commented 1 year ago

Possibly related to #66 ..

Changing to neo_local_planner would be the easiest solution, like I updated earlier today for neo_mp_500 in the previous commit.

Will fix it soon

VineetTambe commented 1 year ago

Update: managed to fix it - the controller subsection in the navigation.yaml used the regulated pure pursuit controller instead of neo_local_planner and setting differential_drive = true fixed the issue.

padhupradheep commented 1 year ago

Cool, you can always use the controller parameters deployed on the real robot.. https://github.com/neobotix/neo_mp_400-2/blob/rolling/configs/navigation/navigation.yaml

padhupradheep commented 1 year ago

If you are interested you can leave a PR with the fixed parameters for RPP... I'll be happy to review it..

padhupradheep commented 1 year ago

Duplicate of #66 .. closing it..

But @VineetTambe feel free to continue commenting on the thread