Robot Keep bouncing up and down

asked 2018-02-20 10:35:32 -0500

BlooDShifT gravatar image

Hello everyone,

I've been through a pair of answers on this forum concerning robot bouncing but found nothing that helped me :/ On a side note I'm relatively new to ROS and GAZEBO so I might have done steps wrong. I join the XML code hoping someone will find why my robot keep boucing following the Y axis.

Sincerely yours, Anonymate passionate

//mybot.xacro

<robot name="myrobot" xmlns:xacro="http://www.ros.org/wiki/xacro">

<xacro:include filename="$(find mybot_description)/urdf/mybot.gazebo"/> <xacro:include filename="$(find mybot_description)/urdf/materials.xacro"/> <xacro:include filename="$(find mybot_description)/urdf/macros.xacro"/>

<xacro:property name="PI" value="3.1415926535897931"/> <xacro:property name="Xorigin" value="0.09"/> <xacro:property name="Xsize" value="0.020"/> <xacro:property name="Yorigin" value="0.06"/> <xacro:property name="Ysize" value="0.020"/> <xacro:property name="Zorigin" value="0.035"/> <xacro:property name="Zsize" value="0.025"/>

<link name="chassis">

<collision>
  <origin xyz="-0.04 0 0.048" rpy="0 0 0"/>
  <geometry>
  <mesh filename="package://mybot_description/meshes/test.dae"/>

  </geometry>
</collision>

<visual>
  <origin xyz="-0.04 0 0.048" rpy="0 0 0"/>
  <geometry>
    <mesh filename="package://mybot_description/meshes/test.dae"/>

  </geometry>
</visual>

<inertial> <mass value="5"/> <origin xyz="-0.04 0 0.048" rpy="0 0 0"/> <inertia ixx="7.821e-2" ixy="0" ixz="0" iyx="0" iyy="0.1" iyz="0" izx="0" izy="0" izz="0.2"/> </inertial>

<collision name="collision4"> <origin xyz="${Xorigin} ${Yorigin} ${Zorigin}" rpy=" 0 0 0"/> <geometry> <box size="${Xsize} ${Ysize} ${Zsize}"/> </geometry> </collision>

<visual name='chassis_visual4'>
  <origin xyz="${Xorigin} ${Yorigin} ${Zorigin}" rpy=" 0 0 0"/>
  <geometry>
    <box size="${Xsize} ${Ysize} ${Zsize}"/>
  </geometry>
</visual>

<collision name="collision5"> <origin xyz="${Xorigin} ${-1*Yorigin} ${Zorigin}" rpy=" 0 0 0"/> <geometry> <box size="${Xsize} ${Ysize} ${Zsize}"/> </geometry> </collision>

<visual name='chassis_visual5'>
  <origin xyz="${Xorigin} ${-1*Yorigin} ${Zorigin}" rpy=" 0 0 0"/>
  <geometry>
    <box size="${Xsize} ${Ysize} ${Zsize}"/>
  </geometry>
</visual>

<collision name="caster_front_collision1"> <origin xyz="0.09 -0.06 0.0245" rpy=" 0 0 0"/> <geometry> <sphere radius="0.007"/> </geometry> <surface> <friction> <ode> <mu>0</mu> <mu2>0</mu2> <slip1>1.0</slip1> <slip2>1.0</slip2> </ode> </friction> </surface> </collision>

<visual name='caster_front_visual1'>
  <origin xyz="0.09 -0.06 0.0245" rpy=" 0 0 0"/>
  <geometry>
    <sphere radius="0.007"/>
  </geometry>
</visual>


<collision name='caster_front_collision2'>
  <origin xyz="0.09 0.06 0.0245" rpy=" 0 0 0"/>
  <geometry>
    <sphere radius="0.007"/>
  </geometry>
  <surface>
    <friction>
      <ode>
        <mu>0</mu>
        <mu2>0</mu2>
        <slip1>1.0</slip1>
        <slip2>1.0</slip2>
      </ode>
    </friction>
  </surface>
</collision>

<visual name='caster_front_visual2'>
  <origin xyz="0.09 0.06 0.0245" rpy=" 0 0 0"/>
  <geometry>
    <sphere radius="0.007"/>
  </geometry>
</visual>

</link>

<link name="left_wheel"> <collision name="collision"> <origin xyz="0 0 0" rpy="0 ${0.5*PI} ${0.5*PI}"/> <geometry> <cylinder radius="0.03175" length="0.04"/> </geometry> </collision> <visual name="left_wheel_visual"> <origin xyz="0 0 0" rpy="0 ${0.5*PI} ${0.5*PI}"/> <geometry> <cylinder radius="0.03175" length="0.04"/> </geometry> </visual ... (more)

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Comments

I think the formatting in your question got messed up (parts in code and parts aren't)! Would be useful if you edited your question to include the answers that did not work for you and(or) what you have tried so far to fix this bouncing.

josephcoombe gravatar imagejosephcoombe ( 2018-02-21 08:51:51 -0500 )edit