The youBot mobile robot is being used to test some kinematic controllers. There is a problem with the base not reaching the maximum speed. A maximum linear velocity of 1.5 is defined in the configuration file.
type: steered_wheel_base_controller/SteeredWheelBaseController base_frame: base_footprint linear_speed_limit: 1.5 linear_acceleration_limit: 2.5 linear_deceleration_limit: 2.5 yaw_speed_limit: 3.0 yaw_acceleration_limit: 3.2 yaw_deceleration_limit: 3.2
The maximum speed reported by Gazebo for the platform when I test it is 0.47 whereas the commanded linear velocity in x-axis is 2 and the rest is zero.
name: [ground_plane, youbot] pose: ... twist: - linear: x: 0.0 y: 0.0 z: 0.0 angular: x: 0.0 y: 0.0 z: 0.0 - linear: x: 0.475034689787 <----- current speed in x-axis direciton y: -0.00392167360465 z: -0.0205054274451 angular: x: 5.50872400881e-06 y: 0.000846332345603 z: 7.43291489694e-05
There is no impact from increasing the PID's gains. The controller is a customised one called
steerable_wheel_base_controller.cpp in the same package. Any suggestions?
Melodic ROS, Gazebo 9, Ubuntu 18.04.