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Changing max step size affects angular velocity

asked 2017-02-06 23:23:08 -0600

wishzz gravatar image


I was recently graphing the relative angular velocity of a link(applying torque via ROS' Wrench service) and decided to change the "max step size" in Gazebo GUI parameters from 0.0001 to 0.0000001. When I did that, the magnitude of the angular velocities decrease by a factor of ~4 for some reason.

Why does changing the "max step size" change the angular velocities so drastically? Should I be expecting such a drastic change in the system? Intuitively, I would've guess that decreasing the "max step size" would decrease the uncertainty not the magnitude of angular velocity.

Thanks ahead of time!

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answered 2018-10-11 09:49:38 -0600

we had the same problem with linear velocity: we simulated a quadcopter commanded with constant identical rotor velocities and the normal behavior (vertical velocity linearly increasing in time, vertical position quadratic function of the time) obtained with a max step size equal to 0.001 drastically changed when the max step size decreased to 0.0001 or 0.00001 (the velocity was an order of magnitude smaller and it saturated at such value).
Does anybody have any idea? thanks.

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Asked: 2017-02-06 23:23:08 -0600

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Last updated: Feb 06 '17