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Part of the robot wheel is under the ground [closed]

asked 2016-07-20 10:34:55 -0500

zfxw0206 gravatar image

updated 2016-07-20 12:47:30 -0500

I have a robot which has 4 wheels. When I put the robot in gazebo, even though I already set the collision of my wheel, I still find that part of the wheel is under the ground and it is shaking all the time.Here is the image: image description

and the visualization of collision and contact: image description

Does anybody have any idea?

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Closed for the following reason duplicate question by zfxw0206
close date 2016-07-21 07:43:33.652480

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Have you tried turning on collision and contact visualization? That might give you some hints.

chapulina gravatar imagechapulina ( 2016-07-20 12:18:49 -0500 )edit

Yes, I did. I already update my question. Which part shall I pay attention to?

zfxw0206 gravatar imagezfxw0206 ( 2016-07-20 12:48:17 -0500 )edit

Thanks for the screenshot. You could check if the tires have a `<kp>` tag under `collision` -> `contact`. That parameter makes the wheels soft, so the heavier the model, and the higher the kp, the deeper the wheels will penetrate.

chapulina gravatar imagechapulina ( 2016-07-20 12:57:20 -0500 )edit

Thanks for the screenshot. You could check if the tires have a <kp> tag under collision -> contact. That parameter makes the wheels soft, so the heavier the model, and the higher the kp, the deeper the wheels will penetrate.

chapulina gravatar imagechapulina ( 2016-07-20 12:57:44 -0500 )edit

Yes, I increase the "kp", it works. Thank you!

zfxw0206 gravatar imagezfxw0206 ( 2016-07-20 14:13:49 -0500 )edit

Glad it's solved :) I copied the comment into an answer so you can close the question.

chapulina gravatar imagechapulina ( 2016-07-20 15:20:16 -0500 )edit

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answered 2016-07-20 15:19:26 -0500

chapulina gravatar image

You could check if the tires have a <kp> tag under collision -> contact. That parameter makes the wheels soft, so the heavier the model, and the higher the kp, the deeper the wheels will penetrate.

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Thanks, worked for me as well. gazebo needs alot of good documentation

midoosman gravatar imagemidoosman ( 2020-01-28 03:33:32 -0500 )edit

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Asked: 2016-07-20 10:34:55 -0500

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Last updated: Jul 20 '16