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Wheels leave robot when command to move is sent

asked 2017-05-14 19:58:00 -0500

matrhint gravatar image

updated 2017-05-18 20:18:27 -0500

The robot model I am working on looks fine in Gazebo; as soon as I send a command for the wheels to move the robot forward:

  1. the wheels start to rotate,
  2. the rear of the robot lifts, and then
  3. the wheels leave the robot.

Here is a link to the github of the files: https://github.com/matrhint/wheels_pr...

I did have this working, but I edited the stl files and changed where the joints are because the robot would not travel in a straight line (I assumed it was the wheels not being exactly 90 degrees to the ground).

Note: The wheel appears to rotate as though the joint is either at z=0 or the wheel is rotating in a circular, planetary fashion around where I believe the joint to be.

Thanks in advance for any assistance.

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answered 2017-05-18 21:11:21 -0500

matrhint gravatar image

I found out what was wrong. 1. The model parts were placed in transparency mode and the view joints was selected. 2. The wheel was rotating with the point of origin being z=0 around the point of z=0. also, 3. I had a camera part sitting at z=0.

To fix this this:

  1. The wheel radius was measured and then placed the joint at that height.
  2. The wheel origin was placed at the the negative value of the wheel radius.
  3. The camera was moved to where the camera visual setting location.

I hope this helps someone else!

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Asked: 2017-05-14 19:58:00 -0500

Seen: 37 times

Last updated: May 18 '17