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Thanks everybody for the input. I had the same problem. The model worked fine with every kind of controller except the effort_controllers/joint_velocity_controller. When I wanted to use it, my model kind of exploded or imploded in the simulation. I compute the inertia in the .urdf model automatically according to the mass and size of the links. Only by adjusting the mass the problem disappeared.

My guess is that the controller's physics needs the mass to be set in grams. Otherwise the whole computation gets wild and robot gets broken.

Thanks everybody for the input. I had the same problem. The model worked fine with every kind of controller except the effort_controllers/joint_velocity_controller. When I wanted to use it, my model kind of exploded or imploded in the simulation. I compute the inertia in the .urdf model automatically according to the mass and size of the links. Only by adjusting the mass the problem disappeared.

My guess is that the controller's physics needs the mass The Gazebo has a problem with inertia values or PID values too small or too large. So try to be set in grams. Otherwise the whole computation gets wild and robot gets broken.play around with those.