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My robot is moving by itself

asked 2017-04-14 01:49:45 -0600

shenki gravatar image

updated 2017-04-14 02:51:26 -0600

Hello,

I am currently working on a project where I am using some pretty complex equations to move my robots. However, I can see (even when im not applying any velocity, nothing) that my robot pose on rot.z is changing by itself (little values, but I want it to be = 0 if there is no reason not to be).

I don't understand why, my robot is a Pioneer3AT, I used the official robot on wich I added an hokuyo laser at it's top. Where does this problem come from ? I think it's from a setting in the .world file but I don't know what it could be.

Here is my file : (sorry it's very messy) world.world

thank you in advance guys, it's for my internship it's pretty important.

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Could be the contact parameters. In the GUI would you mind turning on contact visualization, transparency, and then taking a video?

sloretz gravatar imagesloretz ( 2017-04-14 10:23:12 -0600 )edit

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answered 2017-04-14 04:16:53 -0600

eugene-katsevman gravatar image

updated 2017-04-14 12:31:12 -0600

Actual answer this time:

Gazebo has a long-standing bug till latest 7 (https://bitbucket.org/osrf/gazebo/iss...). This causes pioneer to strafe with constant velocity. Remove fdir1 param from the xacros and do make. It should fix the ussue.

Can't try if it is okay in gazebo 8, sorry

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hello, what do you mean by integration step? thank for those informations anyway

shenki gravatar imageshenki ( 2017-04-14 04:20:20 -0600 )edit

max_step value

eugene-katsevman gravatar imageeugene-katsevman ( 2017-04-14 04:46:21 -0600 )edit

left panel, physics , max_step

eugene-katsevman gravatar imageeugene-katsevman ( 2017-04-14 04:46:45 -0600 )edit
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Asked: 2017-04-14 01:49:45 -0600

Seen: 145 times

Last updated: Apr 14