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Contact and gazebo_ros_controller issue

Dear Gazebo community

We are a company working on an industrial application of mobile robot. We decided to work with ROS and we are trying to use Gazebo to develop, test and validate algorithms.

We decided to publish a basic version of our robot in order to share it with the community. https://github.com/Stanley-Robotics/PublicStan

The robot urdf is here: https://github.com/Stanley-Robotics/PublicStan/blob/master/src/basic_robot_pkg/urdf/robot_simplified.urdf.xacro

With our robot model we face several issues in gazebo:

  • The velocity controller seems to pain to maintain the 0 command when we extend the robot (python script/extend.py) (https://youtu.be/KRg-boKyuiw)
  • The robot slide even with huge mu1, mu2 if we set the iteration in gazebo to 50 (the default one) (https://youtu.be/L3Zn2PzAb_o)
  • The 4 rear casters of our robot are not touching the ground all the time (https://youtu.be/zbRtseEv3Ss)
  • The simulation speed is slow (we would like to have 50 time real time, but we are locked to 2-3 times)

What do you think ? Do you have any advice that could help us about our issues ?

In order to run our simulation please use Gazebo7

git clone https://github.com/Stanley-Robotics/PublicStan.git roslaunch basic_robot_pkg gazebo_empty_world.launch roslaunch basic_robot_pkg basic_simulation.launch python forward.py/extend.py/rotate.py

Thanks

Contact and gazebo_ros_controller issue

Dear Gazebo community

We are a company working on an industrial application of mobile robot. We decided to work with ROS and we are trying to use Gazebo to develop, test and validate algorithms.

We decided to publish a basic version of our robot in order to share it with the community. https://github.com/Stanley-Robotics/PublicStan

The robot urdf is here: https://github.com/Stanley-Robotics/PublicStan/blob/master/src/basic_robot_pkg/urdf/robot_simplified.urdf.xacro

With our robot model we face several issues in gazebo:

  • The velocity controller seems to pain to maintain the 0 command when we extend the robot (python script/extend.py) (https://youtu.be/KRg-boKyuiw)
  • The robot slide even with huge mu1, mu2 if we set the iteration in gazebo to 50 (the default one) (https://youtu.be/L3Zn2PzAb_o)
  • The 4 rear casters of our robot are not touching the ground all the time (https://youtu.be/zbRtseEv3Ss)
  • The simulation speed is slow (we would like to have 50 time real time, but we are locked to 2-3 times)

What do you think ? Do you have any advice that could help us about our issues ?

In order to run our simulation please use Gazebo7

git clone https://github.com/Stanley-Robotics/PublicStan.git roslaunch basic_robot_pkg gazebo_empty_world.launch roslaunch basic_robot_pkg basic_simulation.launch python forward.py/extend.py/rotate.py

Thanks