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Turtlebot doesn't stop after killing the command velocity

asked 2014-05-02 12:43:19 -0600

Robert1 gravatar image

updated 2014-05-04 09:48:21 -0600

dornhege gravatar image

Hi Everyone, I am running two turtlebots (kobuki) with gazebo1.9 and I provided command velocities to each turtlebot using “rostopic pub” command. I noticed that turtlebot keep moving after I killed the command velocity using “Control tab +c”. I am wondering if this anomaly is due to the inertia values for my wheels or something else Thanks for any help with this issue

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Have faced similar problems with Roomba

Arkapravo gravatar image Arkapravo  ( 2014-05-04 11:26:26 -0600 )edit

Somebody gave a tip to sent 0 command velocity. rostopic pub /cmd_vel geometry_msgs/Twist '[0.0, 0.0, 0.0]' '[0.0, 0.0, 0.0]' That command stopped the turtlebot.

Robert1 gravatar image Robert1  ( 2014-05-05 05:36:12 -0600 )edit

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answered 2014-05-05 16:44:36 -0600

I believe that unless a value of zero gets published, then the last value is what is used by the bot. Killing the publication command doesn't force a value of zero to be published, so the bot continues with the last speed it received.

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I agree with you. I will take this for final answer

Robert1 gravatar image Robert1  ( 2014-05-05 17:58:16 -0600 )edit

answered 2014-05-04 09:07:32 -0600

tfoote gravatar image

updated 2014-05-04 09:07:47 -0600

The gazebo plugin might not have a timeout on incoming commands when they stop being published it may continue to execute the last received command.

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Hi Tfoote, In order to add a timeout on the incoming commands, Do i need to change the source code of the pluging? or is there another way to add a timeout? I installed Gazebo$gazebo-ros-pack from binaries and the turtlebot from source. For now, I send a 0 command velocity to stop the turtlebot. Thanks a lot for your help

Robert1 gravatar image Robert1  ( 2014-05-05 05:42:03 -0600 )edit

You could look for a parameter that might enable this. If there isn't I'm sure a patch is appreciated.

dornhege gravatar image dornhege  ( 2014-05-05 06:32:40 -0600 )edit

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Asked: 2014-05-02 12:43:19 -0600

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Last updated: May 05 '14