Comments (3)
y-masutani
commented on August 13, 2024
After that, the action communication /omni_base_controller/follow_joint_trajectory was also investigated, with similar results. Moreover, I confirmed that odometry /omni_base_controller/wheel_odom was at the expected value.
See the windows of Gazebo and RViz (odometry) during the action communication.
https://drive.google.com/file/d/1__IjnBgEoyqWRvjeIb3HsUSPJcFwTESI/view?usp=sharing
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y-masutani
commented on August 13, 2024
I found that the wheels and the floor are slipping in Gazebo.
When Twist.angular.z command is given, base_roll_link rotates with respect to base_link, but base_link does not rotate at all with respect to the floor because the wheels and the floor are slipping.
Watch the screencast to see how it works. It is displayed in wireframe for clarity.
Does this phenomenon reproduce in your environment?
How can we solve this problem?
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y-masutani
commented on August 13, 2024
https://github.com/orgs/HumanSupportRobot/discussions/97
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Related Issues (14)
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