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Environment: Ubuntu 22.04, ROS2 Humble, Gazebo Fortress. Installed everything from apt repos

I am trying to learn ROS2 navigation2 from scratch and have created a differential drive robot (same as sam_bot) except that I want to do it in Gazebo Fortress as it is the recommended version for ROS2 Humble. This means that the plugins are defined differently as in here. All the relevant works are made public in my repository skidy. I think I have written a detailed README on how to set it up (for new users) and the issues that I am having at the moment. The main issue that I face is that

  • If the differential drive plugin in activated (commenting out the odometry and velocity plugin) in the robot_urdf, publishing to cmd_vel steers the robot straight even though there is an angular velocity specified. video

The simulation can be launched as ros2 launch skidy_bringup bringup_sim.launch.py.

Any help on this would be really appreciated.

Thanks

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  • $\begingroup$ Welcome to Robotics ASH, but I'm afraid that questions which are as broad as this are off-topic because answers would need to be too long. As it says in How to Ask If you can imagine an entire book that answers your question, you’re asking too much. We prefer practical, answerable questions based on actual problems that you face, so please take a look at How to Ask, tour and the Robotics question checklist for advice on writing a good question. $\endgroup$
    – Tully
    Sep 16, 2023 at 18:30
  • $\begingroup$ Please refine your general query into smaller bite sized questions that will have specific answers. $\endgroup$
    – Tully
    Sep 16, 2023 at 18:30

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