Emiliano Borghi

Try rebooting the robot. For a Roomba 600, you have to press SPOT and CLEAN simultaneously. If not, remove the battery and put it back again.

I tested what you said and you're right. There is some difference between `/odom` and the _correct_ rotation. I don't have certainty right now about what is causing the issue...

Hey @jossichrist, I think I fixed the issue in [this commit](https://github.com/eborghi10/my_ROS_mobile_robot/commit/5cec213d20c1c7b24257e617e7c43b8d29d556e1). Can you check that again, please? Here are some images with the fix: - Gazebo simulation ![default_gzclient_camera 1 -2018-05-01t20_09_23...

Hi, sorry for the late response. What are you testing? The Gazebo simulation or the robot?

For the real robot, [here](https://github.com/eborghi10/my_ROS_mobile_robot/blob/master/my_robot_scripts/arduino_scripts/arduino_peripherals/src/arduino_peripherals/include/DCMotor.h#L38-L39) are the lines where I declared the subscribers. You can send them velocities directly. Instead, if you want to use Gazebo using `roslaunch my_robot_gazebo my_robot_world.launch`,...

1. Well, first of all, if you want to use your own hardware you will need to modify some parts of the `arduino_peripherals` program. There is no need to edit...

Hi @Supergithubber, I realized that I didn't have issue-posting enabled in my fork. You can now open tickets [there](https://github.com/eborghi10/quadruped_ctrl) if you prefer. Regarding the missing message files, if you're confident...