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you seem to have fixed the first issue. I cannot reproduce it.

I'm not seeing any significant drift. You will not achieve exactly zero drift with gazebo, but the amount I'm seeing is so small (at iterations=200) that it shouldn't matter. The real world isn't perfect either.

The contacts aren't really an issue. they just do that. Also, when I set it to drive forward they did maintain contact constantly.

50x simulation speed is a lot to ask. Try running it without gzclient (just gzserver) and see if that helps. Also, as you've seen, you can mess with solver iterations to try to increase it.

Comment below this if I didn't answer your question.