Hi, everyone.

I'm using nav stack with a holonomic robot, which has omni wheels. I set the parameter holonomic_robot to "true", however it moves in almost the same as false.

Even if I set the goal position to the just side of the robot (with no orientation variation), it moves as followings.

rotate -> go forward -> rotate

Non-zero y velocity was sent EVERY once in a while. But I couldn't see the motion clearly because non-zero x velocity and theta velocity were also sent at that time.

I have two questions.

1. Doesn't Nav stack support the movement with which a robot adjusts position and orientation simultaneously (Can't a robot go in a diagonal direction keeping the orientation?) ?
2. What yvels's (/movebase/TrajectoryPlannerROS/y_vels, default: [-0.3, -0.1, 0.1, 0.3]) values mean respectively ?

Thanks in advance.