Clearpath Husky A200 model in gazebo - wrong turnspeed?

Question

Hello community!

I have a question concerning the clearpath husky A200 gazebo model. I set up a simulation for our husky in gazebo. After I got it running, I was able to control the husky model the same way as our "real" husky, running the same nodes in the simulation as on the real husky.

But there is a strange behaviour in gazebo during steering the model. It seems as if the steering/turning speed in gazebo is very slow compared to the "real" husky.

To get some numbers, I ran the "robot_pose_ekf" package to see some odometry data in rviz. When moving forward and backward on a strait line the data seems to be OK, but the turning speed is very different. For example, a 360° spot turn in gazebo are nearly 1080° in RVIZ regarding the odometry data.

Does anyone have some experience with this issue?

Regards psei

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Originally posted by psei on ROS Answers with karma: 318 on 2013-08-18

Post score: 0

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Original comments

Comment by pmukherj on 2013-08-21:
Hello! This maybe because the "real" husky is running in open loop mode while the simulated one is not. I can verify this but just so I understand the problem well. I am assuming the "real" husky has an IMU? So the 1080 degree you turn you saw in rviz is something you observed physically as well?

Answer 1

A bugfix has been released to the ROS repo and should be available via apt-get in a week or so.

In the mean time, please check out https://github.com/husky/husky_simulator.git for the fixed version.

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Originally posted by yanma with karma: 16 on 2013-11-01

This answer was ACCEPTED on the original site

Post score: 0

Answer 2

It seems as if this problem came from a bug in the husky-gazebo plugin. Clearpath Robotics managed to send me an update of the plugin and now everything works fine.

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Originally posted by psei with karma: 318 on 2013-10-07

This answer was NOT ACCEPTED on the original site

Post score: 1