The real-time angular velocity obtained by summit xl steel in the simulation is not consistent with the speed we released.

[robotnikautomation]

The real-time angular velocity obtained by summit xl steel in the simulation is not consistent with the speed we released.

[robert-ros]

Hi Oscar!

I tested the topics and I could replicate the issue.

The Summit XL uses the gazebo ros planar move plugin in order to move the robot in simulation and it seems a problem related with that plugin. Probably, the SetAngularVel function of the file gazebo_ros_planar_move.cpp is not working as expected.

This issue only affects the applied velocity in the simulation, the odometry works well. In addition, move_base should not be affected, since it applies a velocity command depending on the velocity of the odometry. So, if the velocity odometry is lower than expected, move_base will apply a velocity command higher.

By the other hand, you can use the robotnik_forced_based_move plugin instead of the ros_planar_move_plugin. I tested it and the robot can achieve the velocity command with less error.

Just add in you workspace (where the summit_xl_sim and the other packages are) these packages:

git clone https://github.com/RobotnikAutomation/robotnik_gazebo_plugins.git
git clone https://github.com/RobotnikAutomation/robotnik_elevator_interface.git

Compile the workspace and source it

catkin build
source devel/setup.bash

Then, set the robotnik_forced_based_move as default plugin. For this, in summit_xl_base.gazebo.xacro replace ros_force_based_move with skid_steering

[872643150]

Hi
I can really solve the problem according to your method .But there will be a lot of warnings about the cost map. like
[ WARN] [1638275727.751962306, 15.586000000]: Costmap2DROS transform timeout. Current time: 15.5860, global_pose stamp: 1.9820, tolerance: 0.3000.
At the same time, the navigation package and 2D Nav Goal cannot be used . In this way, other packages will not work properly .
So, I still want to use the ros_planar_move_plugin . Can you solve the problem of angular velocity error whithout replacing ros_planar_move_plugin, can you slove. Thank you!

[robert-ros]

Hi 872643150

The ros_planar_move_plugin is maintained by OSRFoundation, and they use several functions of the Gazebo API like SetAngularVel Feel free to open an issue from https://github.com/ros-simulation/gazebo_ros_pkgs/issues.

On the other hand, are you working with the last packages of the melodic-devel?

Keep in mind if you are going to use a omnidirectional configuration you have to replace ros_force_based_move with omni_steering whereas if you want a differential configuration you must replace ros_force_based_move with skid_steering

[872643150]

Hi robert-ros

Thank you for your reply！I use the summit_xl_sim_bringup summit_xls_complete.launch of melodic-devel.

I bought the Mecanum wheel car. So I use the omnidirectional configuration, and I‘m sure to use omni_steering.

So I replace ros_force_based_move with omni_steering instead of skid_steering. But even still, When I roslaunch the launch file,there will be a lot of warnings about the cost map. like [ WARN] [1638275727.751962306, 15.586000000]: Costmap2DROS transform timeout. Current time: 15.5860, global_pose stamp: 1.9820, tolerance: 0.3000.

In this way, Although I solved the problem of z-axis angular velocity, other packages will not work properly . I don't know how to solve this problem better.

Looking forward to your reply!

[robert-ros]

Hi 872643150

We have just added the ros_force_based_move plugin into the default simulation of the standard Summit XL. Please, install this repository again (melodic-devel) in order to install the dependencies of that plugin. Secondly, launch the robot using the ros_planar_move_plugin_force_based param:

roslaunch summit_xl_sim_bringup summit_xl_complete.launch ros_planar_move_plugin_force_based:=true

[robert-ros]

For the summit_xls:

roslaunch summit_xl_sim_bringup summit_xls_complete.launch ros_planar_move_plugin_force_based:=true