diff_drive_controller publishes non-zero floating-point residual velocities when robot is stopped #1972
Description
Describe the bug
When the robot is stationary, the diff_drive_controller continues publishing non-zero linear.x and angular.z values in the odometry message.
After motion stops, both fields remain constant at fixed values instead of returning to 0.0.
Example observed values
header:
stamp:
sec: 1761177527
nanosec: 808381212
frame_id: odom
child_frame_id: base_footprint
pose:
pose:
position:
x: 3.77347847014605
y: -1.7794038560525278
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.2781463257552604
w: 0.9605387141957624
covariance: '<array type: double[36]>'
twist:
twist:
linear:
x: 5.185908126537075e-14
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 1.1719097914308918e-12
covariance: '<array type: double[36]>'
Paramters
controller_manager:
ros__parameters:
update_rate: 20 # Hz
joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster
tankbot_base_controller:
ros__parameters:
type: diff_drive_controller/DiffDriveController
left_wheel_names: ["left_wheel_joint"]
right_wheel_names: ["right_wheel_joint"]
wheel_separation: 0.191
wheel_radius: 0.02675
wheel_separation_multiplier: 1.0
left_wheel_radius_multiplier: 1.0
right_wheel_radius_multiplier: 1.0
publish_rate: 50.0
odom_frame_id: odom
base_frame_id: base_footprint
pose_covariance_diagonal : [0.001, 0.001, 0.001, 0.001, 0.001, 0.01]
twist_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.01]
open_loop: false
enable_odom_tf: false
cmd_vel_timeout: 0.5
# publish_limited_velocity: true
# velocity_rolling_window_size: 10
linear.x.has_velocity_limits: true
linear.x.has_acceleration_limits: true
linear.x.has_jerk_limits: false
linear.x.max_velocity: 0.3
linear.x.min_velocity: -0.3
linear.x.max_acceleration: 0.3
linear.x.max_deceleration: -1.0
angular.z.has_velocity_limits: true
angular.z.has_acceleration_limits: true
angular.z.has_jerk_limits: false
angular.z.max_velocity: 1.3
angular.z.min_velocity: -1.3
angular.z.max_acceleration: 1.3
angular.z.max_deceleration: -3.0
Video
Screencast.from.2025-10-23.08-55-11.mp4
Environment (please complete the following information):
- OS: Ubuntu 24.04
- Version: Jazzy
- ros2_controller Version: 4.33.1