Acceleration Noise in Gazebo

asked 2014-10-28 21:51:38 -0600

Kasra gravatar image

Hi All,

I'm writing my own planner in ROS and I'm trying to test it using Gazebo. I'm observing really weird behaviors from Gazebo. For example some times I just send some simple velocity commands like Twist::linear.x = 1. Twist::angluar.z = 0, which is supposed to drive the robot in a straight line, but some times robot turns slightly. Also when I send rotational velocities the turning angle varies alot among different runs. I'm using the Pioneer 3dx model which I downloaded from https://github.com/RafBerkvens/ua_ros... . I think it's using "differential_drive_contoller" plugin to drive the robot. When I use the erratic_teleop_keyboard to drive the robot the same strange behavior happens. I'm using ROS Indigo. Any help would be highly appreciated.

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Comments

Is it possible that gazebo is properly modeling the inaccuracies in the real robot?

ahendrix gravatar image ahendrix  ( 2014-10-28 23:28:18 -0600 )edit

I don't think the real robot is that inaccurate. Its behavior is so unreliable.

Kasra gravatar image Kasra  ( 2014-10-29 10:40:02 -0600 )edit

Does anyone know about any good gazebo model of p3dx? I've tried the p2os model as well and it's not working for me.

Kasra gravatar image Kasra  ( 2014-10-31 15:22:48 -0600 )edit