ros_force_based plugin has a problem with TF

[kamoonty]

Hi, I am quite new to ROS and Gazebo. I use ros force based plugin for my Mecanum robot instead of the planar move because your plugin does not override the physics engine. However, I have found a problem here.

1. When I spawn the robot, there are always offset of robot position in my map and also the yaw direction offset for 90 degrees. Hence, I have to edit the arguments for static transform node in order to solve this problem. Here are some parts of my launch file to call a single robot with the namespace.
   <node pkg="tf" type="static_transform_publisher" name="odom_map_broadcaster" args="0 0 0 0 0 0 /map $(arg robot_name)/odom 10" />
   Note that when I set to 0 0 0 0 0 0 the robot will offset in Rviz when compare to the Gazebo
   So I have to change the offset here. But if I use the original planar move there is no problem.

2. When I move robot sideways in the y-axis, the odometry in Rviz does not change even though in gazebo it has change position already. For move straight and backward in X-axis, there is no problem.

Here is the part of my URDF file to call the plugin in
<gazebo> <plugin name="ros_force_based_controller" filename="libgazebo_ros_force_based_move.so"> <commandTopic>cmd_vel</commandTopic> <odometryTopic>odom</odometryTopic> <odometryFrame>odom</odometryFrame> <odometryRate>100.0</odometryRate> <robotBaseFrame>base_link</robotBaseFrame> <publishOdometryTf>true</publishOdometryTf> <yaw_velocity_p_gain>500</yaw_velocity_p_gain> <x_velocity_p_gain>1000</x_velocity_p_gain> <y_velocity_p_gain>1000</y_velocity_p_gain> <cmdVelTimeOut>0.25</cmdVelTimeOut> </plugin> </gazebo>

[CzJaewan]

I have the same problem. Did you solve it?

If you have resolved it, we would appreciate it if you could share the solution.