I followed this tutorial Turtlebot3 and it works great. I am able to control Turtlebot3 as expected.
Now, I’m trying to control a new robot(A Forklift) similar to this. So, I followed the same tutorial. Now, I’m able to control the forklift using linear velocity but I’m not able to do the same for angular velocity.
Ex:
In the case of forklift, this command works as expected
Hey @siddharth.amaranth! Since forklift_c is a different robot, did you adjust the parameters of Differential Controller node accordingly?
Also what is your maxAngularSpeed in Differential Controller? If it is smaller than 5 (in your case, you send a twist message with angular speed 5), then the robot cannot move.
When I give a twist message with the angular speed, I can see the back wheels to be moving. So, I thought I should input all the joint_names to the Articulation Controller node but then I got this issue with the shapes
[Warning] [omni.graph.core.plugin] /root/ActionGraph/articulation_controller: [/root/ActionGraph] OmniGraph Warning: shape mismatch: value array of shape (1,2) could not be broadcast to indexing result of shape (1,4)
I looked at my usd file again and I noticed that the ground wasn’t even and it has many bumps in it. The wheels were getting stuck in them and that’s why the forklift wasn’t rotating. I changed the position and now it works as expected. I have my action graphs as the same as yours but I’m getting dt as 0. Is it an issue?