ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | Q&A answers.ros.org
Ask Your Question
0

Differential Drive robot simulation not moving according to velocity commands

asked 2022-03-10 23:41:29 -0600

Rohin gravatar image

updated 2022-03-13 14:29:06 -0600

Mike Scheutzow gravatar image

Hi, I have simulated my custom 2 wheeled differential drive robot in Gazebo, but while applying a velocity ( /cmd_vel) of 0.1 m/s in the forward direction, the robot moves straight but the movement is not smooth, it's erratic, there is sudden stopping of the robot, it starts shaking, and the wheels seems to be resisting the motion that it gets, then it continues its motion, and this behavior repeats very often during its movement. How do I rectify this behavior? Any extra information regarding my robot model or controller is required, feel free to ask, I will update immediately.

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted
0

answered 2022-03-13 14:31:44 -0600

Mike Scheutzow gravatar image

updated 2022-03-13 14:32:21 -0600

From your description I'd guess that either 1) you are not sending the /cmd_vel messages fast enough, or 2) the friction between your wheel and the ground is not properly defined.

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower

Stats

Asked: 2022-03-10 23:41:29 -0600

Seen: 54 times

Last updated: Mar 13 '22