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Omni-directional robot rotation very slow with

asked 2020-10-19 17:03:54 -0500

tropic gravatar image


I have a fully functional URDF and Gazebo model of my omni-directional mobile robot. I use to move the robot. I am not sure if this is a ROS issue or Gazebo issue, but when I send cmd_vel to the robot just to rotate it e.g. 3.1415 rad/s it rotates very slowly (one rotation here takes >27 sec). The same goes for when I use a local planner to move it automatically. The linear velocity is correct e.g. 1 m/s fits what I see in the simulation. Gazebo runs with a real-time factor of 1x. In ideas why the rotation is so slow when using

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What are you using to generate the messages? If you apply an even larger angular velocity, say 10x, does the model respond accordingly?

tryan gravatar image tryan  ( 2020-11-04 16:56:15 -0500 )edit

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answered 2021-11-21 04:45:00 -0500

mergen gravatar image

Hi, I had the same problem. I solved it by reducing the mass of links from the URDF file significantly.

For ex. 10 kg-> 1 kg for the base link.

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Asked: 2020-10-19 17:03:54 -0500

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Last updated: Nov 21 '21