Turtlebot3 does not move in a straight line #85
Description
Hi,
I’ve started using the TurtleBot3 with the OpenManipulator-X in a simulation environment. I have all the required packages installed and I’m currently working with ROS 2 Humble on Ubuntu 22.04.
The issue I’m facing is that when I publish a linear velocity command (with zero angular velocity), the TurtleBot does not move in a straight line — it tends to curve slightly to one side.
To debug this, I’ve tried the following:
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Removed the OpenManipulator-X from the simulation to rule out the effect of its weight — the issue still persists. However, this problem does not occur when using the standard TurtleBot3 package (without the manipulator).
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Modified the turtlebot3_waffle_pi.gazebo.xacro file, adjusting parameters like friction and damping — this helped slightly, but the robot still doesn't move perfectly straight.
I'd really appreciate any suggestions or guidance on how to fix or further debug this behavior. Thanks in advance!