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Published 20 hours ago • verified publisher icon ROBOTIS-GIT

/odom returns zero velocity

Open ozgudum opened this issue 4 years ago • 2 comments

ISSUE TEMPLATE ver. 0.4.0

  1. Which TurtleBot3 platform do you use?

    Waffle

  2. Which ROS is working with TurtleBot3? ROS 2 Foxy Fitzroy

  3. Which SBC(Single Board Computer) is working on TurtleBot3? Raspberry Pi 3B+

When I'm running TB3, I am always getting near zero values for /odom/twist. Is this expected? I would expect to get robot velocity in m/s. No issue with /odom/pose

header: stamp: sec: 1608235551 nanosec: 879066078 frame_id: odom child_frame_id: base_footprint pose: pose: position: x: 0.14691394855059656 y: 0.002690837393091869 z: 0.0 orientation: x: 0.0 y: 0.0 z: 0.00243727714663111 w: 0.9999970298356443 covariance: ... twist: twist: linear: x: -2.1876057909291433e-12 y: 0.0 z: 0.0 angular: x: 0.0 y: 0.0 z: 7.178701217325196e-13 covariance: ...

ozgudum avatar Dec 17 '20 20:12 ozgudum

Hi @ozgudum Thank you for reporting this issue. I'll look into the code and see what causes this problem. Thanks!

ROBOTIS-Will avatar Dec 18 '20 09:12 ROBOTIS-Will

Hi @ozgudum Have you resolve the problem? I have the same issue.

shanpenghui avatar Jun 09 '21 06:06 shanpenghui