force ground truth value keeps bouncing between positive and negative
I use a gazeborosf3d plugin to check force ground truth value of one of arm link, gripperrolllink. Here is the part of code of robot.xacro
<!--//////////////add gazebo_ros_f3d contcat sensor!!!!!!/////////////////-->
<gazebo>
<plugin name="grasping_frame_contact_sensor_controller" filename="libgazebo_ros_f3d.so">
<alwaysOn>true</alwaysOn>
<updateRate>30.0</updateRate>
<robotNamespace>/seven_dof_arm</robotNamespace>
<bodyName>gripper_roll_link</bodyName>
<topicName>gripper_roll_link_force_ground_truth</topicName>
</plugin>
</gazebo>
Problem: Why the value keeps bouncing between positive and negative ? It is extremely unstable.
My guess is the inappropriate setting of moments of inertia of links where all the values of moments of inertia are made-up. Does it make sense?
Asked by shawnysh on 2017-06-11 08:45:49 UTC
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