ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange

Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Revision history [back]

No, the Kobuki Gazebo plugin computes the odometry based on the rate at which the wheels are turning. So there are two possible explanations for the effect you're seeing:

Either the wheels are really not turning when the robot is pushing against a wall. This is unrealistic, but if the simulated wheel traction is much higher than on the real robot, it's possible. In that case, the robot is not moving in the odom frame.
Or the robot does appear to be moving in the odom frame, but gmapping is compensating for it based on the localization in the laser scans.

I would guess it's (1).

ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.

Powered by Askbot version 0.10.2