I tried to simulate my car model in the gazebo, I built the front and rear wheel of the car, I tried to use the velocity controller in the ros_control to control my car front wheel and rear wheels respectively.
had been loaded out of Wheel1_velocity_controller and Wheel2_velocity_controller：
Test
"rostopic pub-1/rrbot/wheel1_velocity_controller/command std_msgs/float64 data:1.5"
"Rostopic pub-1/rrbot/wheel1_velocity_controller/command std_msgs/float64 data:1.0"
The car can be movement, theoretically should be driven in a straight line, and the result of the simulation is turning movement, why?
↧