Gazebo | Ignition | Community
Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version

Okay, I manage to solve my problem after checking the answer provided for this other post. The problem is that using the PositionJointInterface the simulator somehow cannot estimate the force interaction appropriately at the joints when there is a collision, so it breaks.

What I did, as suggested in the other post, is to implement the EffortJointInterface similarly as done here and carefully find some reasonable PID gains. So now, the simulation works more realistic, it won't break the controller even if it hits some obstacle, you can see it here.

Here is my code in case anyone needs something similar.