Navigation problems when giving cmd_vel

asked 2016-06-28 06:06:31 -0500

wassimhariri gravatar image


I am done with a driver for my robot, and with joy stick every thing works well when giving linear velocity in x, rotational velocity or both. But when i went to navigation, the ros topic echo for cmd_vel are fine, but the robot is not doing that action (so for example it is giving rotation in z, but the robot dont rotate, it moves in a strange way).

My robot is a sort of research project, it doesnt have any wheels, it moves on 3 balls and each ball is controlled with 2 motors one for x and one for y, so that each ball produce a vector in a certain direction and the combination moves the center of mass of the robot.

What could be the problem that the equations are not executed well when navigation, while with joy stick it works fine? any help please? and is it a problem of the driver or it could be another reason?

Thanks in advance

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Just a clarification: When you say "with joystick", are you using a ROS joystick driver that publishes to cmd_vel? Or are you talking straight to your own driver, independently of ROS?

spmaniato gravatar image spmaniato  ( 2016-06-28 11:39:00 -0500 )edit

hey, thanks for your reply, yes sure i mean using a ROS joystick driver which publishes cmd_vel @spmaniato

wassimhariri gravatar image wassimhariri  ( 2016-06-28 12:02:50 -0500 )edit

Did you check the frequency of publishing between navigation and the joystick driver? Maybe your driver has limit on frequency that Navigation is violating (too fast or too slow).

billy gravatar image billy  ( 2016-06-29 14:11:26 -0500 )edit