How to send right velocity to model in gazebo?

asked 2016-02-16 11:55:46 -0500

cybodroid
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Hi, I am sending velocity command to gazebo model but it only reflects 35% of commanded velocity. I tried to tune PID gain in config file but it doesn't affect anything. In xacro file also, changing mechanical reduction doesn't seem to work. Does anybody have idea how to fix it so that I can get the velocity what I am commanding to the model?

Thanks.

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Please give us more information on what node are you using. If you use a ros controller maybe the config from cmd_vel to hardware is wrong. If you use directly a gazebo controller maybe their is a transmission gearing down the speed

Arowana ( 2016-02-16 20:00:23 -0500 )edit

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answered 2016-02-18 02:21:39 -0500

cybodroid
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I am using latter approach. I can say that transmission is the culprit. But changing the mechanicalReduction is not doing anything.

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answered 2016-02-16 14:06:31 -0500

Devin

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Maybe the model has Maximum speed.

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Model has maximum speed limit of 10 m/s. But It doesn't matter if I send 3 m/s or 1 m/s or 15 m/s . It is always approximately 35% of the input velocity and I am not able to figure out how to fix it.

cybodroid ( 2016-02-16 14:24:27 -0500 )edit

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How to send right velocity to model in gazebo?

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