diff_drive_controller makes robot move faster in RViz compared to Gazebo

asked 2020-03-19 07:56:29 -0600

CuriousHash gravatar image

My robot moves faster in RViz than in Gazebo. I'm using diff_drive_controller to make my robot move in Gazebo. I noticed that the robot rotates and moves faster in RViz. I checked it by placing a camera in my robot urdf and placing a blue cube in Gazebo in front of the robot. Then on rotating the robot, the RViz image output shows the blue cube when the robot is at a different z-orientation compared to its previous z-orientation wherein the blue cube was visible.

You can download my package from here and run the following command:

roslaunch rosbots_description gazebo_n_rviz_visualize.launch

Then you can place the blue cube in Gazebo by running this command:

rosrun gazebo_ros spawn_model -file /home/hashim/catkin_ws/src/rosbots_description/urdf/object.urdf -urdf -x 1 -y 0 -z 1 -model my_object

Then publish velocity commands on the topic rosbots/mobile_base_controller/cmd_vel using this gui:

rosrun rqt_robot_steering rqt_robot_steering

I researched quite a lot on google but could not find an answer. Thanks!

edit retag flag offensive close merge delete


If you've already figured this out, please post your answer. If not, the wheel radius in your controller configuration (my_rosbot_controller.yaml, line 19) is 0.26 m, while the URDF shows a wheel radius of 0.23 (my_robots.xacro, lines 289 and 329). I'm not sure that's the cause as I didn't try running it, but it's worth looking into.

tryan gravatar image tryan  ( 2020-07-01 11:12:08 -0600 )edit