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Possible to simulate motor failure with Pixhawk in Gazebo??

asked 2017-10-23 04:23:01 -0500

sid gravatar image

updated 2017-10-24 03:04:30 -0500

Hello community,

I wanted to simulate a motor failure for a quad with Pixhawk in gazebo. Is it possible to do so? I wanted to try my own high-level controller with the low-level controller of Pixhawk. It might be possible to do so by actuator control but I don't want to do that. I wanted to check whether my high-level position controller can stabilize the motor failure or not. Any help or guidance towards the relevant direction is appreciated. Thanks.

PS: I am not an expert in Gazebo but have used it enough for a few months. So, be gentle on the technical language! Thanks.

EDIT: If someone could just tell me if it is possible to write a plugin to make a link stop moving while simulation on my command, that would also be really helpful.

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answered 2017-10-25 13:58:26 -0500

Not sure if I understand your question but perhaps this is what you are trying to do?

http://answers.gazebosim.org/question...

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Yes something similar perhaps, I want a link to stop while in simulation once I command something. I will look into it. Thanks for pointing out!

sid gravatar imagesid ( 2017-10-26 02:04:20 -0500 )edit

Cool, the approach in the hyperlink will let you "freeze" a joint - using a Gazebo Plugin which you can control via ROS. That will stop your link from moving relative to its parent link. If you instead to stop a link from moving relative to the world reference, that might be more complicated - but not impossible. Basically, at each iteration time step, you'll want to apply forces/torques to your link that counteract external forces (e.g. gravity)... again possible (at least in theory) via plugin

josephcoombe gravatar imagejosephcoombe ( 2017-10-26 10:20:27 -0500 )edit

Yes, makes sense. I will try and see! Thanks

sid gravatar imagesid ( 2017-10-27 00:25:28 -0500 )edit
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Asked: 2017-10-23 04:23:01 -0500

Seen: 174 times

Last updated: Oct 25 '17