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Mir is not moving in a straight line. (mir+ur5) #54

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Emily194 opened this issue May 23, 2020 · 2 comments
Closed

Mir is not moving in a straight line. (mir+ur5) #54

Emily194 opened this issue May 23, 2020 · 2 comments

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@Emily194
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Hi. I am currently struggling with this issue and I have no idea why mir is not moving in a straight line. Do you know what could be the possible cause of error? Thank you!
ezgif com-video-to-gif
@mintar
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mintar commented May 26, 2020

Are you sure that the path is curving? Or is the start simply offset by a bit? It's a bit hard to tell by the video.

In my experiments, there is a slight offset at the start. This is caused by small perturbations in the simulation while the robot is at rest. However, the path is not significantly curved. Are any warnings printed to the terminal when you start your Gazebo simulation?

mir_robot_straight_line

mobipick_straight_line

@mintar
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mintar commented May 26, 2020

Also, I've plotted the data via plotjuggler, and the path also looks to be straight:

plotjuggler

@mintar mintar closed this as completed Jun 29, 2020
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@mintar @Emily194