Hi everyone, thanks for the replies. John, my problem isn't achieving
the proper angular and linear velocities, it's that the resultant yaw
between the observed one in Gazebo, and the one I am reading from the
position interface seems off after I have given it a few commands (spin
the robot exactly once and the yaw isn't the same as initial). I am
guessing it is caused by wheel slip, but I am not sure what the proper
mu values should be, and also I don't know if there are other parameters
I can tweak.
I have attached an example world file that I am using, and the
pioneer2dx model from svn, and I am using the position interface
libgazebo::PositionIface * _pose;
I can set the yaw values to the following:
_pose->data->cmdEnableMotors = 1;
_pose->data->cmdVelocity.pos.x = 0.0;
_pose->data->cmdVelocity.yaw = 1.0;
and observe that when the robot is lined up with its initial heading,
the value I am reading is not zero, but something way off (2.08 for
instance), and changes the more rotations I allow it to do.
Any help in this is much appreciated,
thanks!
Luc
On 08/26/2010 07:58 AM, Luis Manso wrote:
If you're using your own model, you probably didn't set correctly the radius
and distances between the wheels:
<wheelSeparation>0.34</wheelSeparation>
<wheelDiameter>0.16</wheelDiameter>
I guess (I didn't actually read the code) that the odometry is computed
using this values. Thus, they must match with the actual values of the
model.
Luis
2010/8/26 John Hsu<john...@willowgarage.com>
how are you controlling the pioneer? I tried giving it a goal using the
example file (attahed position.cc) and was able to achieve target linear
and
angular velocities.
also, can you try the attached patch and see if the slip behavior goes
away?
John
On Wed, Aug 25, 2010 at 10:41 PM, Luc Brunet<
lbru...@provectus-robotics.com
wrote:
Hi John, thanks for the reply. Yes, I meant<mu1>, although I was
unaware of<mu2>, is there a difference? I was originally using my own
model, but then verified the same behaviour in the pioneer2dx model that
comes as an example.
Luc
On 08/26/2010 01:37 AM, John Hsu wrote:
Hi Luc,
Do you mean<mu1> (and<mu2>)? Also, are you using one of the pioneer
models that comes with the svn checkout?
John
On Wed, Aug 25, 2010 at 8:21 PM, Luc Brunet
<lbru...@provectus-robotics.com>wrote:
Hi everyone,
I am using a differential drive robot in Gazebo (svn version), and I
am
noticing a lot of slip in the wheels that is giving me large errors,
particularly in the heading when I am spinning. It is to the point
where I visibly watch the robot spin twice before the yaw values
indicate that it has spun once. Can someone point me to some setting
to
play with so that I can tune this? I have tried setting the<mul> of
the wheels to infinity without any noticeable change in behaviour.
Thanks alot!
--
Luc Brunet
Co-Founder, Director - Robotic Systems
Provectus Robotics Solutions
www.provectus-robotics.com
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