robot pose slightly off when publishing to /cmd_vel
Hello,
I have been trying to build a very basic template of motion of a robot in a coordinate system. I want to implement basic functions like move_forward, move_back, move_right and move_left giving in as parameters the distance for the robot to move.
I have two questions :- 1. When I try using basic actionlib communication architecture and publish 'Twist' messages and latch for a particular time (after adjusting speed to move a unit distance) , I am able to move the robot but the final pose of the robot is always slightly off than what is expected. For example - i expect the robot to move to (3,0) from (0,0) but the actual coordinates read (2.9,-1.6e-12). Whats going wrong ?
2.I am a newbie. Currently, I am using stage_ros with custom world files to model my robot, and a very simple actionlib server-client architecture for publishing to topics. Is there any better package i could use ? I would really appreciate any pointers.
Thanks