Issue: Rover Spins on Its Own in Guided Mode with Zero Velocity Command in the SITL

ArduRover
,
1

Hello everyone,

I’m encountering an issue with my rover in a SITL (Software In The Loop) simulation, controlled via MAVROS. When the rover is in Guided mode, I send velocity commands to the /mavros/setpoint_velocity/cmd_vel topic using the geometry_msgs/TwistStamped message type.

The problem is that, even when I send a command with zero linear and angular velocity (all components set to zero), the rover begins to spin in place. Here’s the command I am using:

rostopic pub /mavros/setpoint_velocity/cmd_vel geometry_msgs/TwistStamped "header:
  stamp:
    secs: 0
    nsecs: 0
  frame_id: ''
twist:
  linear:
    x: 0.0
    y: 0.0
    z: 0.0
  angular:
    x: 0.0
    y: 0.0
    z: 0.0"

Thanks for help :slight_smile: