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tu-darmstadt-ros-pkg / hector_gazebo

hector_gazebo provides packages related to the simulation of robots using gazebo (gazebo plugins, world files etc.).
http://www.ros.org/wiki/hector_gazebo
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ros_force_based plugin has a problem with TF #63

Open kamoonty opened 5 years ago

kamoonty commented 5 years ago

Hi, I am quite new to ROS and Gazebo. I use ros force based plugin for my Mecanum robot instead of the planar move because your plugin does not override the physics engine. However, I have found a problem here.

  1. When I spawn the robot, there are always offset of robot position in my map and also the yaw direction offset for 90 degrees. Hence, I have to edit the arguments for static transform node in order to solve this problem. Here are some parts of my launch file to call a single robot with the namespace. <node pkg="tf" type="static_transform_publisher" name="odom_map_broadcaster" args="0 0 0 0 0 0 /map $(arg robot_name)/odom 10" /> Note that when I set to 0 0 0 0 0 0 the robot will offset in Rviz when compare to the Gazebo So I have to change the offset here. But if I use the original planar move there is no problem.

  2. When I move robot sideways in the y-axis, the odometry in Rviz does not change even though in gazebo it has change position already. For move straight and backward in X-axis, there is no problem.

Here is the part of my URDF file to call the plugin in `

cmd_vel odom odom 100.0 base_link true 500 1000 1000 0.25

`

CzJaewan commented 3 years ago

I have the same problem. Did you solve it?

If you have resolved it, we would appreciate it if you could share the solution.