Wheels somehow rotates undesirably

[MoriKen254]

For now, I checked some behaviors on current drive controller as follows but haven't found any essential cause yet.

• on rocker_bogie
  • wheel joints somehow rotates even if set 0 command on every update timing.
  • consequently odom is updated undesirably.
• on diff_drive
  • Switching rocker_bogie_controller to diff_drive_controller doesn't solve the issue above.
  • this means the problem essentially occurs from diff_drive_controller or model.
  • in jackal simulator(also using diff_drive), the same problem also happens but the effect is not so large.

If you have found something, please let me know.

Thanks.

[AriYu]

@MoriKen254
Thank you your summery about problems on gazebo.
I want to check this problem on real robot, but now I haven't been able to move robot by using ros_control. There are some problems on fr01_hw pkg.
I will report the result on real robot if I success to control.

[MoriKen254]

@AriYu
Thanks. I expect results on real robot because I doubt cause as follows.

• in gazebo, only three wheels looks being grounded(three point ground). three wheels may have gotten free joints.
• rotating wheels are 3 of 6 wheel: wheel_right_back, wheel_right_middle and wheel_left_middle.
• using diff_drive_controller with two wheels mond (only using wheel_left_front and wheel_right_front which does not rotate) looks solve the problem. effect seems very small like jackal simulator.

odomが勝手に更新される原因はこれのように思います．
ただ，上記をどう解決すればいいのか，まだ分かりません．

実ロボットなら少し浮いたところでjointが回っちゃうことはないと推測しています．
リアルロボットでの検証ができたら，教えて下さい．

取り急ぎ．