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Hey I’m following https://docs.duckietown.org/DT19/opma… to get my duckiebutt (duckiebot) go straight, but it’s not working. Is there any other ways to adjust my wheels?  I asked the same question on ROS https://answers.ros.org/question/334802/error-service-duckiebuttinverse_kinematics_nodeset_trim-is-not-available/
“If the Duckiebot drifted by less than 10 centimeters you can stop calibrating the trim parameter. A drift of 10 centimeters in a 2 meters run is good enough for Duckietown. If the Duckiebot drifted by more than 10
centimeters, continue with the next step.
If the Duckiebot drifted to the left side of the tape, decrease the value of r
, by running, for example:
$ rosservice call /DUCKIEBOT_NAME/inverse_kinematics_node/set_trim — -0.1″
<span class="pln">[email protected]</span><span class="pun">-</span><span class="pln">teaching</span><span class="pun">-</span><span class="pln">lab15</span><span class="pun">:~</span><span class="pln">$ rosservice call </span><span class="pun">/</span><span class="pln">duckiebutt</span><span class="pun">/</span><span class="pln">inverse_kinematics_node</span><span class="pun">/</span><span class="pln">set_trim </span><span class="pun">--</span> <span class="pun">-</span><span class="lit">0.1</span>

<span class="pln">ERROR</span><span class="pun">:</span> <span class="typ">Service</span> <span class="pun">[</span><span class="str">/duckiebutt/</span><span class="pln">inverse_kinematics_node</span><span class="pun">/</span><span class="pln">set_trim</span><span class="pun">]</span> <span class="kwd">is</span> <span class="kwd">not</span><span class="pln"> available</span><span class="pun">.</span>

<span class="pln">[email protected]</span><span class="pun">-</span><span class="pln">teaching</span><span class="pun">-</span><span class="pln">lab15</span><span class="pun">:~</span><span class="pln">$ rosservice list
</span><span class="pun">/</span><span class="pln">rosout</span><span class="pun">/</span><span class="pln">get_loggers</span>

Edited question