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Clearpath Husky A200 model in gazebo - wrong turnspeed?

asked 2013-08-18 22:39:00 -0500

psei gravatar image

Hello community!

I have a question concerning the clearpath husky A200 gazebo model. I set up a simulation for our husky in gazebo. After I got it running, I was able to control the husky model the same way as our "real" husky, running the same nodes in the simulation as on the real husky.

But there is a strange behaviour in gazebo during steering the model. It seems as if the steering/turning speed in gazebo is very slow compared to the "real" husky.

To get some numbers, I ran the "robot_pose_ekf" package to see some odometry data in rviz. When moving forward and backward on a strait line the data seems to be OK, but the turning speed is very different. For example, a 360° spot turn in gazebo are nearly 1080° in RVIZ regarding the odometry data.

Does anyone have some experience with this issue?

Regards psei

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Hello! This maybe because the "real" husky is running in open loop mode while the simulated one is not. I can verify this but just so I understand the problem well. I am assuming the "real" husky has an IMU? So the 1080 degree you turn you saw in rviz is something you observed physically as well?

pmukherj gravatar image pmukherj  ( 2013-08-21 11:16:57 -0500 )edit

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answered 2013-11-01 07:23:39 -0500

yanma gravatar image

A bugfix has been released to the ROS repo and should be available via apt-get in a week or so.

In the mean time, please check out https://github.com/husky/husky_simulator.git for the fixed version.

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answered 2013-10-07 03:11:54 -0500

psei gravatar image

It seems as if this problem came from a bug in the husky-gazebo plugin. Clearpath Robotics managed to send me an update of the plugin and now everything works fine.

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Asked: 2013-08-18 22:39:00 -0500

Seen: 293 times

Last updated: Nov 01 '13