Wheel movement in gazebo only taking effect after manually moving the robot

asked 2014-10-16 06:43:05 -0500

stewess gravatar image

Hey guys

I got the following issue: I have a gazebo simulation (g4) of a robot and interface to it with ROS (indigo). The robot is spawned in the simulation environment with a spawn_model node from the gazebo_ros package. Now when I launch the simulation and start up my controls, e.g. teleoperation, the robot doesn't move: If I make the joints visible I see that the wheels are turning correctly according to the control inputs, but it doesn't make the robot move. However if I manually move the robot to the side or up using the gui, gazebos' physics engine seems to finally drop in and the robot starts to move just as expected and i can control it. Do you have any idea about possible reasons? I checked for additional collisions or contact points, but everything seems fine at startup as well. I also tried spawning it above ground and in other locations but to no avail.

Thanks a lot!

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Can you post a picture with the joints? I think I know what your problem might be but I need more visuals

l0g1x gravatar image l0g1x  ( 2014-10-20 10:24:07 -0500 )edit

Yes I'll be able to do that as soon as I'm on that machine again. As for now: May I still ask what your initial guess is? I'm curious as to what you hope to get out of that picture. :)

stewess gravatar image stewess  ( 2014-10-22 18:29:57 -0500 )edit