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