Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Moving in Rviz opposite to reality

asked 2023-01-23 09:14:19 -0600

Omar_Alkassas
1 ●3 ●4

updated 2023-06-18 10:25:17 -0600

lucasw

8729 ●137 ●239 ●256 https://github.com/lucasw

My mobile robot moves well in the gazebo and Rviz using teleop node. However, when I implement the real robot, the robot moves well, in reality, using teleop node while Rviz moved the opposite. It moves forward and backward well but turns right in reality while turning left in Rviz. Could you help me?

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2023-01-23 23:10:56 -0600

billy
1850 ●24 ●87 ●47

There are a couple points that could be causing this issue and without more info it's difficult.

Incorrect static transform - a transform within your model may have the robot flipped along the X-Axis
Incorrect odom to base_link transform - calculations to built up the tranform may have either simply bad math or flipped the robot over(or something).
Incorrect odometry calcs - you don't describe the robot but if it is a differential drive then one motor is spinning forward and one backward and when calculating angle(rotation) maybe a minus sign got switched
You're viewing the RVIZ robot from the under side in RVIZ so it only looks like it's turning the wrong way - verify that the "Invert Z axis" in RVIZ is not checked.
You're viewing the real robot in a mirror and both the robot and RVIZ agree the TELOP is backwards.

edit flag offensive delete link

add a comment

Question Tools

Stats

Asked: 2023-01-23 09:14:19 -0600

Seen: 262 times

Last updated: Jan 23 '23

Moving in Rviz opposite to reality edit

1 Answer

Question Tools

Stats

Related questions

Moving in Rviz opposite to reality