gazebo libgazebo_ros_diff_drive.so veers
I have been through several very similar basic tutorials for building a simulated mobile robot in Gazebo. They all consist of a pair of wheels, a chassis and a caster. In each case the vehicle is connected to the libgazebo_ros_diff_drive.so plugin.
I am trying to understand the behaviour. When I send a new speed demand (using teleop_twist_keyboard) the vehicle moves. I start the vehicle pointing along the x-axis. The speed demand that I apply is forwards. My expectation is that the vehicle should move exactly along the x-axis, since there should be no forces to rotate the vehicle. However, within 10m the vehicle has rotated by about 45deg.
Does the gazebo simulator add noise to the simulation/control? Is there some other explanation for this behaviour?
please always link to the exact plugin/package you are using. There are several plugins that do similar things, but they are not identical.
Also: questions about the dynamics simulation of Gazebo would best be asked over at
answers.gazebosim.org. Here we can discuss the ROS integration/plugins.Plugin is libgazebo_ros_diff_drive.so
I'll post this over at gazebosim too.
Then please post a link here in a comment to that question, so we can keep things connected.
Post on Gazebo Answers: differential_drive_controller veers.