Skid_steer_drive_controller output an opposite direction

asked 2021-03-22 09:13:34 -0500

Heho gravatar image

After receiving a geometry_msg in a +x direction, but my robot run with its -x direction.(each x direction of links are the same in my robot).

My skid_steer_drive_controller config is

  <plugin name="skid_steer_drive_controller" filename="">

My urdf files is here

I guess this controller's direction is base the settings of leftFrontJoint, rightFrontJoint, leftRearJoint, rightRearJoint.

And I think my setup should be fine.... But the robot did run in an opposite direction.

So, I am wonder that how to fixed this issue, and what does skid_steer_drive_controller's direction actually depend on?

Thank you!

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