jumpy wheels when using urdf and joint_state_publisher [video]

asked 2019-12-14 15:44:44 -0600

wintermute gravatar image


I made an urdf for my robot by looking at turtlebot3_description. By publishing wheel positions to the joint_state_publisher, I also made the wheels turn, as the robot moves.

However although the wheels turn and move, they are wobbly and jumpy. Here is a video of the behavior:


and here is my urdf:


As seen on the video, the wheels are little jumpy, almost looks like there is a problem with position. Although the wheels are jumpy, the base_link (the body of the model) is not. So I think that if there was a problem with the odometry data, it would also make the robot body be jumpy.

Any ideas/recommendations greatly appreciated.

Best Regards, -C.A.

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Try and see whether increasing the publication frequency of robot_state_publisher helps.

It's likely this is a TF (visualisation) artefact.

Edit: and as the video can be made really short and still show what you want us to see: try to convert it to .gif. That way you can upload it here directly and we don't depend on vimeo's retention policy.

gvdhoorn gravatar image gvdhoorn  ( 2019-12-15 07:53:35 -0600 )edit

@gvdhoorn yes I have experimented with publication frequency of both robot_state_publisher and joint_state_publisher and it did not lead anywhere.

wintermute gravatar image wintermute  ( 2019-12-15 10:26:53 -0600 )edit