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POST No. 2407720
Mismatch between simulated and actual movement
2020-01-14 14:27:04 sakthivel
Our key requirement is to make the robot move along a customised path (see below). We are able to simulate the correct path in Gazebo and visualise using Rviz. The problem is that the real robot doesn't follow the correct path even when the simulator shows it moving along the correct path.

Setup details:
Turtlebot3 - Burger bought in  Dec 2019. 
Remote PC - Windows 10, VirtualBox, Ubuntu 16.04
SBC - Raspbian as given in the e-manual
Installed Gazebo as per the e-manual.

We have defined the path using a script that is inspired from the Turtlebot3_client and Turtlebot3_server nodes in the Examples folder of the Turtlebot3 package. 


Can you please suggest what's wrong here? Do you think there is a problem with the robot's wheel encoders?
 

Required path:
image.png
2020-01-14 14:27:04
sakthivel
2020-01-15 09:33:12 Will Son

Hi,


Please understand that in this forum we usually do not review or analyze the custom code.

In some cases when TurtleBot3 is receiving multiple cmd_vel from different nodes, the robot may not run as intended.

For example, if you are running the turtlebot3_teleop node to control the robot remotely while transmitting a path, it may collide with each other.

I'd recommend to post at answers.ros.org with more details(such as your code and how steps you took to run the code) to get help from ROS developers and to find answers from similar questions.

Thank you.

2020-01-15 09:33:12
willson
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