Not able tomove the base of Pepper in Gazebo Fortress

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Shay Zhang

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Nov 7, 2025, 1:32:05 AMNov 7

to ROS Sig Aldebaran

Hi,

I am recently working on simulating Pepper with ROS2 Humble and Gazebo Fortress. While the joints on the body can move easily with the position controller, I have a problem moving Pepper around in space. Not matter using the effort controller, velocity controller, or diff_drive_controller (for the front wheels only), simulated Pepper can only spin but not translate.