Hello ArduRover Community,
I am encountering a control issue with my Rover when operating in Guided mode using MAVROS. Specifically, the problem arises when I publish velocity commands to /mavros/setpoint_velocity/cmd_vel_unstamped
. I’ve observed that the Rover does not correctly interpret angular speeds unless the joystick is centered. Additionally, unless the joystick is fully down, linear speeds are not correctly executed. I’m using the FS-i6 RC controller, with the left stick controlling the Rover’s movements, but the Rover only moves forward. This behavior is unexpected as, in Guided mode, the Rover’s movements should not be influenced by the RC controller’s trim settings.
Setup Details:
- ROS Version: Noetic
- Controller: FS-i6
Steps to Reproduce:
- Ensure the Rover is set to Guided mode and confirm that both set home and EKF home are properly configured.
- Remap and publish velocity commands via
/mavros/set_velocity/cmd_vel_unstamped
tocmd_vel
. - Use
rqt_robot_steering
to controlcmd_vel
, which should allow for adjustments in both linear and angular speeds.
Expected Behavior: The Rover should accurately follow MAVROS commands in Guided mode, independent of the joystick’s position.
Actual Behavior: The Rover only processes angular speeds correctly when the joystick is centered; otherwise, it moves forward continuously. Similarly, correct linear speed processing only occurs when the joystick is down; otherwise, the Rover moves forward without stopping.
I have verified the joystick calibration and updated all software and firmware. Could I be missing a configuration setting, or might this be indicative of a bug? Any insights or suggestions you could provide would be greatly appreciated.
Thank you for your assistance!