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contact forces oscillating for a basic box shape on ground plane

asked 2014-05-08 22:38:02 -0500

peshala gravatar image

updated 2014-05-08 22:39:42 -0500

Hi all,

In my simulation I have a simple box on the ground plane with the following parameters:

Dimensions: 1[m]x1[m]x1[m]
Moment of Inertia: ixx=0.166666667 iyy=0.166666667 izz=0.166666667
Mass: 1[kg]

As seen from this youtube video the contact forces are oscillating for this simple setup. Using the ros bumper plugin it was confirmed on rviz (youtube video) as well. When the moment of inertia was changed to deafult values (ixx=1.0 iyy=1.0 izz=1.0) there was no such oscillations as seen by:C:\fakepath\gazebo-stable.jpg

According to ODE wiki ODE engine has an accuracy issue. So, does that mean I cannot use it for example, calculating collision forces, torques in simulation?

Can anyone let me know some examples where collision forces have been used apart from ros bumper plugin.

Thank you in advance.

Peshala

ps: I am using ros hydro with gazebo 1.9

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answered 2014-05-11 02:07:47 -0500

scpeters gravatar image

There are some contact parameters that can be used to improve contact force stability, especially the min_depth parameter (see another question/answer). For an example, please see these changes to the polaris ranger ev model.

As to the accuracy of ODE, we are currently writing tests to quantify the accuracy of ODE and the other physics engines used in Gazebo.

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@scpeters for accuracy purposes I changed the solver type from quick to world. But, then gazebo crashes. http://answers.gazebosim.org/question/6237/ode-with-solver-type-world-crashes/ any thoughts on that?

peshala gravatar imagepeshala ( 2014-05-21 00:35:43 -0500 )edit
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Asked: 2014-05-08 22:38:02 -0500

Seen: 1,232 times

Last updated: May 11 '14