Hi,
I’ve started using the TurtleBot3 with the OpenManipulator-X in a simulation environment. I have all the required packages installed and I’m currently working with ROS 2 Humble on Ubuntu 22.04.
The issue I’m facing is that when I publish a linear velocity command (with zero angular velocity), the TurtleBot does not move in a straight line — it tends to curve slightly to one side.
To debug this, I’ve tried the following:
-
Removed the OpenManipulator-X from the simulation to rule out the effect of its weight — the issue still persists. However, this problem does not occur when using the standard TurtleBot3 package (without the manipulator).
-
Modified the turtlebot3_waffle_pi.gazebo.xacro file, adjusting parameters like friction and damping — this helped slightly, but the robot still doesn't move perfectly straight.
I'd really appreciate any suggestions or guidance on how to fix or further debug this behavior. Thanks in advance!
Hi,
I’ve started using the TurtleBot3 with the OpenManipulator-X in a simulation environment. I have all the required packages installed and I’m currently working with ROS 2 Humble on Ubuntu 22.04.
The issue I’m facing is that when I publish a linear velocity command (with zero angular velocity), the TurtleBot does not move in a straight line — it tends to curve slightly to one side.
To debug this, I’ve tried the following:
Removed the OpenManipulator-X from the simulation to rule out the effect of its weight — the issue still persists. However, this problem does not occur when using the standard TurtleBot3 package (without the manipulator).
Modified the turtlebot3_waffle_pi.gazebo.xacro file, adjusting parameters like friction and damping — this helped slightly, but the robot still doesn't move perfectly straight.
I'd really appreciate any suggestions or guidance on how to fix or further debug this behavior. Thanks in advance!