Teleop_twist_keyboard: inverted commands review

[saxosun]

Hello RIcardo,
I did what you suggested me. Actually, using echo the cmd_vel command are coerent with the letters typed. So the problem is on the URDF code. At moment, I am still looking for the issue. I think the problem could be in the differential drive pluigin or more probably in the controller…I added <command_topic>cmd_vel_</command_topic> the missed in the lesson…but nothing of different.

  <!-- wheels -->
  <left_joint>chassis_left_wheel_joint</left_joint>
  <right_joint>chassis_right_wheel_joint</right_joint>

  <!-- kinematics -->
  <wheel_separation>1.0912</wheel_separation>
  <wheel_diameter>0.206</wheel_diameter>

  <!-- limits -->
  <max_wheel_torque>20.0</max_wheel_torque>
  <max_wheel_acceleration>2.0</max_wheel_acceleration>

  <command_topic>cmd_vel</command_topic>
  <remapping>/cmd_vel:=amrj16/cmd_vel</remapping>

  <!-- output -->
  <publish_odom>true</publish_odom>
  <publish_odom_tf>true</publish_odom_tf>
  <publish_wheel_tf>false</publish_wheel_tf>

  <odometry_topic>odom</odometry_topic>
  <odometry_frame>odom</odometry_frame>
  <robot_base_frame>base_link</robot_base_frame>

</plugin>

thanks for any suggestions
Salvatore

[saxosun]

Hello,
I solved it. The problem was with the direction of the Z-axis wheels i.e. z1 scalar product z2=-1.
Best,
Salvatore