0
$\begingroup$

My robot is on the heavy side and is driving on carpet. The Ros2_control sends out weak angular speeds and spinning power. How can I increase this? Linear velocity is fine and almost too fast! I'm using the diff_drive controller. I realize that spinning quickly is bad for the Lidar odometry, but at this time, mine won't spin at all! Is there a yaml file setting that controls this?

$\endgroup$

1 Answer 1

1
$\begingroup$

What do you mean be "weak angular speeds and spinning power"? diff_drive controller only does the inverse kinematics from the twist-input to the wheel velocity output. If you need more speed, you have to fix its inputs.

$\endgroup$
2
  • $\begingroup$ What I mean is that when I controll the Sabertooth motor controller with my own Python routine, the robot spins and turns with gusto. I have only seen the Diffbot_Drive do it with little power. Perhaps I can change the yaml file to allow angular at 2.0 times power? I already had the joystick yaml file doing linear at 0.7 times power and the angular was at 3.0 times power, but the robot won't spin. (rotate) $\endgroup$
    – Russ76
    Feb 2 at 23:14
  • $\begingroup$ Yes, I got the joystick inputs adjusted and the controller is working well now! I was editing the wrong yaml file for the joystick earlier. Duh. The real test will come when it drives itself autonomously, not from my joystick.Thanks $\endgroup$
    – Russ76
    Feb 4 at 1:32

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge you have read our privacy policy.

Not the answer you're looking for? Browse other questions tagged or ask your own question.