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Planar move plugin make the manipulator's motion slow

asked 2015-07-04 04:23:15 -0500

daichi gravatar image

updated 2015-11-05 03:36:59 -0500

yah130s gravatar image

Hi, I'm trying to simulate Kuka youbot with gazebo.
I have a question about gazebo planar move plugin.
Since kuka youbot has mechanum wheels, it needs to use gazebo planar move plugin.
So I followed this instruction and added the plugin.

As a result, the mobile platform works fine, however the manipulator on the platform looks weird.
Manipulator falls down because of gravity, but the motion is very slow.
And each joint requires more torques to move than without the plugin.

Why planar move plugin affects robot motion in the above way ?
How can I avoid this situation ?

Thanks in advance.

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Comments

does the plugin change your realtime factor? Are there any forces working against the Plugin? (like the wheels)

evilBiber gravatar imageevilBiber ( 2015-08-05 06:39:13 -0500 )edit

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answered 2015-11-05 03:36:17 -0500

yah130s gravatar image

Same question is asked on ROS' forum where I provided a possible workaround idea.

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Asked: 2015-07-04 04:23:15 -0500

Seen: 687 times

Last updated: Nov 05 '15