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model set to be fixed to world keeps jittering

asked 2017-06-11 08:58:14 -0500

shawnysh gravatar image

updated 2017-06-13 05:11:38 -0500

Background: I want to set one of the box object to be fixed to the world.

What I have tried:

if an object set to be fixed to the world, it will keeps jittering. According to my search, some say it could be inertia problem. Though I change it according to formula of uniform 3d object, and it still doesn't work

Source code:

Here is the wall.xacro // script I show has commented the below code

Code below used to make box object fixed to world.

<!-- wall fixed to the world-->
    <link name="world"/>

    <joint name="base_link_fixed" type="fixed">
      <parent link="world"/>
      <child link="wall_link"/>


However, the box turns out to be jittering all the time like dancing!! box_jitter

Solution Found

Thank WarwickWagon's answer. The first solution works well.

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1 Answer

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answered 2017-06-12 12:33:49 -0500

WarwickWagon gravatar image

There are two solutions:

  1. Add the static tag to your model


  2. Add a valid inertial block to your model including correct mass and inertia matrix.
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Thank you WarwickWagon for your helpful and prompt reply! The first solution works for me perfectly. Actually I have tried the second solution which failed, as my update question shows. Thanks again.

shawnysh gravatar imageshawnysh ( 2017-06-13 05:10:15 -0500 )edit
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Asked: 2017-06-11 08:58:14 -0500

Seen: 412 times

Last updated: Jun 13 '17