I’m trying to move the Nova Carter robot in a straight line by sending a velocity command via the /cmd_vel topic (with lin_vel = 1.5 and ang_vel = 0, meaning only a low linear velocity). However, as shown in the video, after some time, the robot starts spinning in place, as if the wheel velocities were different—even though they are actually not.
Isaac Sim Version
4.5.0
Operating System
Ubuntu 22.04
Tue Feb 11 11:58:33 2025
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| NVIDIA-SMI 555.42.06 Driver Version: 555.42.06 CUDA Version: 12.5 |
|-----------------------------------------±-----------------------±---------------------+
| GPU Name Persistence-M | Bus-Id Disp.A | Volatile Uncorr. ECC |
| Fan Temp Perf Pwr:Usage/Cap | Memory-Usage | GPU-Util Compute M. |
| | | MIG M. |
|=========================================+========================+======================|
| 0 NVIDIA RTX A4000 Off | 00000000:17:00.0 Off | Off |
| 41% 53C P8 16W / 140W | 2164MiB / 16376MiB | 21% Default |
| | | N/A |
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| 1 NVIDIA RTX A4000 Off | 00000000:65:00.0 On | Off |
| 45% 57C P5 26W / 140W | 6135MiB / 16376MiB | 38% Default |
| | | N/A |
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I’ve tried to modify the damping and stiffness values of the joint_wheel_left and joint_wheel_right but without any results. The problem only solves when lowering the lin_vel under 1.0, but I would like the robot to go faster than that.
Does anyone knows how to solve this problem?