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problem with turning 6w robot, in one direction

asked 2019-07-24 00:51:49 -0500

Pakras gravatar image

updated 2019-07-31 03:06:43 -0500

Hi, im trying to simulate 6w-robot, i have problems with turning it, and some strange behaviour. video: https://youtu.be/HlLMFx4MvAY turning in left is okey, but in right some strange behaviour my urdf: https://pastebin.com/SGZgq3JP

P.S Hi, i fix jittery contacts,but it did not fix problem my urdf https://pastebin.com/0akZA8HB angle of wheel are different in both direction, https://youtu.be/Xrmn1ErzAGc

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answered 2019-07-24 12:35:27 -0500

bhej gravatar image

It seems that your wheel contact points are jittery when you are rotating right, but not when you are rotating left. This is probably what is causing it. You need to have better contact points.

Try setting the <implicitSpringDamper> to true for each wheel joint:

<gazebo reference="wheel_joint">
    <implicitSpringDamper>true</implicitSpringDamper>
</gazebo>

You also need to specify your surface/friction parameters in <gazebo>tags. Check out the URDF format: http://wiki.ros.org/urdf/XML/link and this Gazebo guide: http://gazebosim.org/tutorials/?tut=r...

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Asked: 2019-07-24 00:51:49 -0500

Seen: 54 times

Last updated: Jul 31