Home | Tutorials | Wiki | Issues
Ask Your Question
0

model set to be fixed to world keeps jittering

asked 2017-06-11 08:58:14 -0500

shawnysh gravatar image

updated 2017-06-13 05:11:38 -0500

Background: I want to set one of the box object to be fixed to the world.

What I have tried:

if an object set to be fixed to the world, it will keeps jittering. According to my search, some say it could be inertia problem. Though I change it according to formula of uniform 3d object, and it still doesn't work

Source code:

Here is the wall.xacro // script I show has commented the below code

Code below used to make box object fixed to world.

<!-- wall fixed to the world-->
    <link name="world"/>

    <joint name="base_link_fixed" type="fixed">
      <parent link="world"/>
      <child link="wall_link"/>
    </joint>

Problem:

However, the box turns out to be jittering all the time like dancing!! box_jitter

Solution Found

Thank WarwickWagon's answer. The first solution works well.

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted
1

answered 2017-06-12 12:33:49 -0500

WarwickWagon gravatar image

There are two solutions:

  1. Add the static tag to your model

    <static>1</static>

  2. Add a valid inertial block to your model including correct mass and inertia matrix.
edit flag offensive delete link more

Comments

Thank you WarwickWagon for your helpful and prompt reply! The first solution works for me perfectly. Actually I have tried the second solution which failed, as my update question shows. Thanks again.

shawnysh gravatar imageshawnysh ( 2017-06-13 05:10:15 -0500 )edit
Login/Signup to Answer

Question Tools

2 followers

Stats

Asked: 2017-06-11 08:58:14 -0500

Seen: 225 times

Last updated: Jun 13 '17