I am trying to build a custom 4-wheeled omniwheel robot with ROS, and am currently trying to make a simulation of it work in Gazebo as well. I am using ROS Noetic for stability, and am on Gazebo 11.11.0.

So far I have:

• Written the hardware PID controller and integrated with the system with rosserial
• Written the RobotHW class for ros_control (works)
• Written a holonomic controller for the robot (works)
• Created the URDF (works with RViz)

Now, I am trying to integrate in the gazeboroscontrol plugin with my own controller and JointStateController, but whenever I run the plugin, the wheels of the robot all get reset to the origin. The terminal shows no warning or errors at all. Here is a sample log.

This is when I launch without the plugin:

This is when I do launch with the plugin:

This is the launch file I am launching the simulation from, and after a lot of experimentation, here is what I have isolated:

• Simply by running the gazeboroscontrol plugin, the wheels are reset to origin
• What controllers are running do not matter
• Only VelocityJointInterface seems to break the wheels, but EffortJointInterface preserves the joint positions
• The controllers themselves seem to be running, as RViz seems to receives the TF poses just fine:
• But the controllers cannot actually manipulate the wheels, as changing cmd_vel for my controller does not change the TF poses of the wheels

Here's more info:

• rqt_graph:
• roswtf

Would appreciate any ideas on how to debug this! Thanks in advance <3