Whatever I try, my kobuki base keeps shaking, also often referred as "wobbling" behavior in gazebo > 2

Video: https://youtu.be/aBOjJyfX10M

My environment (where I want it to work)

ROS Indigo + osrf rosgazebo5pkgs + kobuki(from source)

Where it works: ROS Indigo either x32/x64 with gazebo2 (same sources of kobuki - just recompile..)

Where it doesn't work: ROS + gazebo > v2

Where I tried: ROS Jade + gazebo5 ROS Indigo x32/x64 + gazebo4/gazebo5

manual compile:

• gazebo7 -> no compile (too many errors to fix)
• gazebo6 -> no compile (too many errors to fix)
• gazebo5 -> compiles
• gazebo4 -> compiles

Fixes tried:

I found and tried several solutions, most point to the deprecated velocity /force commands.:

• change / remove the velocity command. http://answers.gazebosim.org/question/8371/kobukiturtlebot-doesnt-move-when-given-velocity-commands-in-gazebo-5/

• also mentioned maxforce https://bitbucket.org/osrf/gazebo/commits/0a08678cadde3fc3594fcdef777df8ea9b12c29c?at=restoremax_force5

• more confusion about max_force or fmax http://answers.gazebosim.org/question/8458/setmaxforce-deprecated-in-gazebo-50/

• suggests fmax right https://github.com/ros-simulation/gazebo_ros_pkgs/blob/jade-devel/gazebo_plugins/src/gazebo_ros_diff_drive.cpp

• suggests max_force right https://bitbucket.org/osrf/gazebo/src/406e1297bb41cabc090c26db1642e5bbdd0b5479/plugins/SkidSteerDrivePlugin.cc?fileviewer=file-view-default

For me its currently unclear what's correct fmax or max_force however just commenting out should also work.

The problem in Code:

/*

// deprecated

  joints_[LEFT]->SetVelocity(0, wheel_speed_cmd_[LEFT] / (wheel_diam_ / 2.0));
  joints_[RIGHT]->SetVelocity(0, wheel_speed_cmd_[RIGHT] / (wheel_diam_ / 2.0));


 // some suggest just comment SetMaxForce (the following)

  joints_[LEFT]->SetMaxForce(0, torque_);
  joints_[RIGHT]->SetMaxForce(0, torque_);

// some suggest this as alternative code to SetMaxForce, but max_force seems wrong, it should be fmax

  joints_[LEFT]->SetParam("max_force",0, torque_);
  joints_[RIGHT]->SetParam("max_force",0, torque_);


*/

 // my best solution (that still didnt work)

  joints_[LEFT]->SetParam("vel",0, wheel_speed_cmd_[LEFT] / (wheel_diam_ / 2.0));
  joints_[RIGHT]->SetParam("vel",0, wheel_speed_cmd_[RIGHT] / (wheel_diam_ / 2.0));
  joints_[LEFT]->SetParam("fmax",0, torque_);
  joints_[RIGHT]->SetParam("fmax",0, torque_);

Summary:

I tried various versions of this.. including just commenting everything. Yes I cleaned and recompiled everytime..

Note: Without Gravity -> no problems, but.. no gravity is not a solution

So what could also happen? damper? weight? I played with kp,kd,mu1/2, mass, inertia nothing helped.

Others had the same issue and for them it worked.. https://github.com/mayfieldrobotics/kobuki_desktop/commit/4246c6e4330f39725df3eb39a0b77a7fcc6185b1 from forum http://answers.ros.org/question/209126/kobuki-strange-behaviour-in-gazebo/ and even used for a "jade" branch https://github.com/yujinrobot/kobuki_desktop/issues/41 its officially applied..

but its not working (for me)

according to Javier it should work in gazebo4

I have tested the same code in Gazebo4.1.3 and it works like a charm, so it is a Gazebo5 problem. Javier V. Gómez (May 13 '15)

From http://answers.ros.org/question/209126/kobuki-strange-behaviour-in-gazebo/

I tried, it didn’t.. (for me..)

-> the error happens already in gazebo4

something in the migration from gazebo2 to gazebo4?

migration https://bitbucket.org/osrf/gazebo/src/5adf274c0172e4707ac86523c3aedd3d332f3c7c/Migration.md?fileviewer=file-view-default and changelog https://bitbucket.org/osrf/gazebo/src/default/Changelog.md?fileviewer=file-view-default

PS: Yes I also tested the execution of my changes by messaging the ROSINFOSTREAM

what magic ingredient am I missing?