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When it moves in the gazebo, the robot's wheel goes into the ground

asked 2022-06-20 03:30:24 -0600

ali123 gravatar image

updated 2022-07-10 12:08:56 -0600

lucasw gravatar image

Hello, as seen in the pictures below, the wheel stops normally when I start my robot for the first time. When I move it with the help of /cmd_vel or a navigation package, the wheel goes to the ground and my robot cannot perform the desired behavior. What could be the reason, I would appreciate it if you could help, thank you.

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answered 2022-06-20 05:51:25 -0600

qilin_gundamenjoyer gravatar image

updated 2022-06-20 05:54:48 -0600

There is no picture attached in your post. Anyways, I think the value for /cmd_vel is too high to the point that the wheel gets submerged into the ground, so try tweaking the value for /cmd_vel by lowering it until the wheel stays on the ground plane. You can also send manual movement commands to Gazebo, which this tutorial teaches. If it still doesn't work, check and tweak the inertia value since if the value is too low, it could cause the robot to move illogically on Gazebo.

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Based on your answer, I did what you said, but it didn't work. URDF was drawn from solid and all previous drawings were working fine. In this drawing, I changed the width and height of the robot and it started to do the movement I call the vehicle. I don't think it has anything to do with cmd_vel . Thank you for your answer. Now, for example, I got rid of the car being stuck on the ground by changing the drawing a little bit. My current problem is that when I command angular in /cmd_vel, it goes forward, and when I command Linear x, it returns. And the only thing that changes are the urdf files. I really couldn't understand. Thank you

ali123 gravatar image ali123  ( 2022-06-20 10:09:59 -0600 )edit

Yeah, I think it's better if you consult the Gazebo Forums for this issue.

qilin_gundamenjoyer gravatar image qilin_gundamenjoyer  ( 2022-06-20 16:56:47 -0600 )edit

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Asked: 2022-06-20 03:30:24 -0600

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Last updated: Jun 20 '22