How to drive Clearpath Jackal via ROS2 messages in Isaac Sim?

[longylian]

Hi @rchadha , I try 4 different methods, but each method has the same bug. I use carter_ v2_3 for comparison, given an angular velocity of 1.0 rad/s, Jackal rotates much slower than carter_v2_3.

My USD file is here:
carter_jackal_.zip (356.6 KB)

Robot	Wheel Radius (m)	Wheel Separation (m)
carter_v2_3	0.14	0.4132
Jackal	0.095	0.37558

1. one differential controller + one articulation controller
   

   
   
   

2. one differential controller + two articulation controller
   

   
   
   

3. two differential controller + one articulation controller
   

   
   
   

4. two differential controller + two articulation controller
   

   
   
   

I found some links related to my issuse:

• Articulation of a 4-wheeled robot using ROS2
• Wheel robot with 4 joints can't move by Differential Controller using Action Graph and ROS