Wheel robot with 4 joints can't move by Differential Controller using Action Graph and ROS

[dave.vandermeer.001]

Hello,

I am facing a similar issue. At first, I was indeed using 2 Articulation Controllers (and I already had in mind this was not the right way to do this), and then I found this thread. I implemented it the same way, and it works exactly the same as with the 2 Articulation Controllers. My problem is that the wheels spin in the correct direction, but the robot does not move accordingly. Instead of doing a spot turn, it creates a very large circle.

Any idea what could cause this behaviour?

Here is the original post I did before I found this threat here. It is not a duplicate, as I face another issue with the movement o the rover, not only the connection.

Articulation of a 4-wheeled robot using ROS2

I found this link related to my issue: Wheel robot with 4 joints can't move by Differential Controller using Action Graph and ROS - #9 by queque.daffer Here, they use a single articulation controller to control all four wheels. I implemented that same structure, and the behaviour is exactly as before. [image] Also related is the following issue: 4 wheels differential drive robot issues I have the same behaviour: the wheels are spinning and creating a circle with a very large radius instead …

Any suggestions are welcome.