The data are noisy when using libgazebo_ros_ft_sensor.so

asked 2018-04-03 05:57:57 -0500

percyliu_ gravatar image

I tried to attach a Force/Torque sensor to the foot of an humanoid robot as follows:

<gazebo>
    <plugin name="left_ft_sensor" filename="libgazebo_ros_ft_sensor.so">
        <updateRate>100.0</updateRate>
        <topicName>/robotis/sensor/left_ft_sensor</topicName>
        <jointName>l_leg_an_r</jointName>
        <gaussianNoise>0.0</gaussianNoise>
    </plugin>
</gazebo>

And the force along z-axis of one foot when the robot was walking is shown as follows: image description

I tried to add a low-pass filter, but it did not work. Is there any solution to this problem? Thanks in advance.

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Comments

I had similar issues using the gazebo torque sensor in a URDF made from scratch. What helped me was getting better inertial values in place. This post (http://answers.gazebosim.org/question/4372/the-inertia-matrix-explained/ ) was really helpful, particularly the 'common.xacro' library. I also noticed that my model(s) had a tendency to vibrate/walk across the screen for no obvious reason, this was also resolved with better <inertial> entries.

kurt_r gravatar imagekurt_r ( 2018-08-10 09:36:48 -0500 )edit