Mismatch between command vel and movement

[danicannt]

Hi!

I've been running some tests with your package and I noticed there might be an issue with how the turtle interprets the cmd_vel command.

When I send a linear velocity to it, the odometry reports the expected linear motion in RViz, but in the actual simulation the turtle rotates in circles instead of moving straight. This suggests there might be a mismatch between the odometry calculation and how the simulated robot applies the velocities physically.

Would you mind checking if there might be a configuration issue in the model’s wheel parameters or the velocity translation in the differential drive plugin?
I'd be happy to share more details

Thanks a lot in advance for your help and for the work on the package

[yuokamoto]

Thanks.
Which turtlebot model are you using?

[yuokamoto]

I created PR
rapyuta-robotics/RapyutaSimulationPlugins#372
which will update odom calc of BP_TurtlebotWaffle and BP_TurtlebotBurger.

[danicannt]

Hi @yuokamoto I have tested your changes and now the turtlebot responds correctly to the /cmd_vel commands .

Thanks for your time
I have approved the pull request