inertias not work well in my model

asked 2016-07-19 04:22:40 -0600

aitormf gravatar image

updated 2016-07-20 03:02:03 -0600

I'm triying to make a Formula 1 (with two cameras and a laser) model, but when I put inertias in the model, they not work. I`m using gazebo7.

We have a client that connects to a plugin we have made for gazebo and allowing drive the F1 through a circuit.

model

Motors plugin

we use the same motors plugin to teleoperate turtlebot founds in gazebo oficial model repository and works well. By that y think that this problem is with intertial values.

To create the intertial matrix, I used this manual: http://www.gazebosim.org/tutorials?tu....

when I accelerated the formula 1 to some 27 m/s and then I give a value 0 of speed, braking in dry. the speed becomes zero at that moment without seeing as it advances a little while it slows down.

Meshlab values:

Mesh Bounding Box Size 0.401645 0.888804 0.204933
Mesh Bounding Box Diag 0.996639 
Mesh Volume is 0.020711
Mesh Surface is 3.429925
Thin shell barycenter -0.002349 0.296365 0.058029
Center of Mass is -0.003402 0.372718 0.070094
Inertia Tensor is :
| 0.000232 -0.000002 -0.000000 |
| -0.000002 0.000124 0.000104 |
| -0.000000 0.000104 0.000340 |
Principal axes are :
| -0.015143 -0.926820 0.375202 |
| 0.999861 -0.011424 0.012136 |
| -0.006961 0.375333 0.926864 |
axis momenta are :
| 0.000082 0.000232 0.000382 |
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Comments

Can you add more information about you problem?

nkoenig gravatar imagenkoenig ( 2016-07-19 09:23:21 -0600 )edit

I edited it with more information

aitormf gravatar imageaitormf ( 2016-07-20 03:02:47 -0600 )edit