Robot keeps "floating" using Planar Move plugin

asked 2015-11-05 04:10:33 -0600

yah130s gravatar image

updated 2015-11-05 04:11:38 -0600

Robot's pose gets odd using Planar Move plugin under some circumstance, such as with terrain with ups and downs, or with collision. Specifically for example in the following video with rubbles, robot keeps "floating", or maintains linear z-value, after it hits and somehow got climbed up on the rubbles.

youtube video 1

My guess is that this happens because the plugin updates the velocity of the model in the physics engine level per every loop and the code as of today sends 0 to z, which may be conflicting against Gazebo's inherent physics computation or something.

This is actually reported in the Gazebo-ROS plugin repo.

This sillily simple attempt seems to amend the situation.

youtube video 2

But I know this patch is far from ideal. What could be the best optimal solution to this?

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