Home | Tutorials | Wiki | Issues
Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version

I might suggest you to use a P controller (set I and D parameters to zero) and increase the damping of your joints. You'll get almost what you want. The damping prevents the PID to oscillate or diverge, and using a PID controller is the most integrated solution I know for gazebo. I use this solution to avoid PID tuning for a robot arm.

<joint type="revolute" name="wheel_joint">
  <pose>0 0 0 0 0 0</pose>
  <parent>car</parent>
  <child>wheel</child>
  <axis>
    <xyz>0 1 0</xyz>
    <dynamics>
      <damping>3</damping>
    </dynamics>
  </axis>
  <physics>
    <ode>
      <cfm_damping>1</cfm_damping>
      <implicit_spring_damper>1</implicit_spring_damper>
    </ode>
  </physics>
</joint>