Contact Sensor/Force Torque Testing?

asked 2017-03-30 18:08:42 -0600

imakething gravatar image

updated 2017-03-30 18:09:20 -0600

I made a force torque that is fixed to the ground in gazebo 4 and ubuntu 14.04 and I am wondering if there is a way to test that it is giving me accurate information, namely the forces. I am attempting to get forces from my robot falling and impacting the ground and I am getting numbers that seem way out of a reasonable range. I am currently getting the info for the sensor from the gz topic echo and writing it to a txt file. I am concerned that maybe the update rate is not high enough to register the actual peak value in the short period of contact of the robot and the contact surface. Also the forces are very noisy and I do not know why. Any ideas?

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Are you using ODE (the default physics engine)? There's a totally different case https://bitbucket.org/osrf/gazebo/issues/2209 where setting the ODE solver parameter <sor> to 1.0 eliminated noise from a force/torque sensor

sloretz gravatar imagesloretz ( 2017-03-31 11:31:08 -0600 )edit

I am using ODE with <sor> = 1.4, <iters> = 30 and <type> = quick. Also I do not actually know that these are or what they means

imakething gravatar imageimakething ( 2017-03-31 11:55:32 -0600 )edit
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