Dear list,

Starting from the fake_turtlebox example in chapter 8.2 from Ros By Example volume 1, I created a version with our own robot using a nexus robot with mecanum wheels. First without using the y-commands in the Twist-commands. This works perfectly.

After that adapted the controller to fully use the mexanum wheels, checked it by using rostopic pub commands. It now can move perfectly sideways and such.

But after setting, in baselocalplannerparams.yaml, holonomicrobot to true, yvels to [-0.3, -0.1, 0.1, 0.3], maxvely to 1.5, minvel_y to 0.05, nothing seems to change.

When, in rviz, giving a new 2D nav goal there is no strafing whatsoever if the new position is just next to the current one, and a simple y-movement would suffice.

What am I doing wrong?

UPDATE: the question also is: does baselocalplanner actually support holonomic robots? And whick planner does?

Thanks in advance, Sietse