Gazebo rotate slower than RVIZ

asked 2022-01-23 06:41:24 -0500

Maven Cheong gravatar image

Hi, I have a custom robot URDF defined and using diff_drive_controller package to drive the robot inside the gazebo, i've also having a simulated Kinect sensor attached to the robot.

Currently I'm having issue where the ODOM in Gazebo is slower than the ODOM in RVIX and causing the fake laser scan keep drifting.

Any advice how to improve the URDF model so that Gazabo robot able to rotate and sync with the odom in RVIZ? From what i see in Gazebo, it always rotate slower than RVIZ.

I also notice that if i launch gazebo without custom world, the drift issue will not happen. However after added the custom world, the robot seem rotate slower.

Any advice?

My URDF file : https://github.com/mavencheong/vacumm...

and my Launch file https://github.com/mavencheong/vacumm...

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Comments

Hi @Maven Cheong, what you may be experiencing may be due to not enough memory or your CPU utilization is maxing out, Gazebo then slows down. Can you check CPU/GPU and RAM utilization while performing the simulation with and without custom world?

osilva gravatar image osilva  ( 2022-01-24 08:56:57 -0500 )edit