Robot Is fixed and can't be moved

asked 2017-07-19 04:26:15 -0500

sezan92 gravatar image

updated 2017-07-26 09:59:14 -0500

chapulina gravatar image

Hello I was trying to make a self balancing robot Gazebo Simulation. For that purpose I have made a model from Scratch. But the in the Gazebo simulation the robot is stuck in one place .. it seems the gravity or other force isn't affecting it at all! Please help .

Here is the code along with the video

    <?xml version = "1.0" ?>
<robot name = "Self_Balancing_Robot" xmlns:xacro ="http://ros.org/wiki/xacro" >
    <link name = "Chassis">
        <inertial>
            <origin xyz ="0.05896 0.08935 0.172" rpy = "0 0 0"/>
            <mass value = "0.388"/>
            <inertia ixx =".01687" iyy=".01517" izz=".05897" ixy=".02146" ixz =".04541" iyz = ".0102"/>
        </inertial>
        <collision>
            <geometry>

                <box size = "0.075 0.175 0.157"/> 
            </geometry> <!--
            <origin rpy = "0 0 0" xyz ="0 0 0.1101"/> -->
            <origin rpy = "0 0 0" xyz ="0 0 0.0"/> 

        </collision>
        <visual>
            <geometry>
                <!--<box size = "0.075 0.175 0.157"/> -->
                <mesh filename ="package://self_balancing_robot/meshes/Assem_No_wheelTiny.dae"/> 
                <!--<mesh filename ="package://self_balancing_robot/meshes/Assem2_No_Wheel.STL"/>-->
            </geometry>
            <origin rpy = "0 0 0" xyz ="0 0 0.0"/> 


        </visual>
    </link>

    <link name = "Right_Wheel">
        <inertial>
            <origin xyz ="0.00091 0.01535 0.07450" rpy = "0 0 0"/>
            <mass value ="0.03770"/>
            <inertia ixx ="0.000233" ixz = "0.000002560" iyy = "0.000236407" iyz = "0.000043120" ixy = "0.000000528" izz = "0.000024435"/>
        </inertial>
        <collision>
            <geometry>
            <cylinder radius="0.0316" length ="0.037"/> 

            </geometry>
            <!--
            <origin rpy = "0 0 0" xyz = "0 0.1100 0.0316"/> -->
            <origin rpy = "0 0 0" xyz = ".005 0.160 0.010"/> 

        </collision>
        <visual>
            <geometry>
            <mesh filename="package://self_balancing_robot/meshes/WheelZTiny.dae"/>
            </geometry>

            <origin rpy = "0 0 0" xyz = ".005 0.160 0.010"/>  

        </visual>
    </link>
    <joint name ="Right_wheel_Joint" type = "revolute">
        <parent link = "Chassis"/>
        <child link = "Right_Wheel"/>
        <origin xyz = "0 0.0875 0" rpy ="0 0 0.0"/>
        <limit effort="100" velocity="0.5"/>
        <axis xyz="0 1 0"/>
    </joint>

    <link name = "Left_Wheel">
        <inertial>
            <origin xyz ="0.00091 0.01535 0.07450" rpy = "0 0 0"/>
            <mass value ="0.03770"/>
            <inertia ixx ="0.000233" ixz = "0.000002560" iyy = "0.000236407" iyz = "0.000043120" ixy = "0.000000528" izz = "0.000024435"/>
        </inertial>
        <collision>
            <geometry>
            <cylinder radius="0.0316" length ="0.037"/>
            </geometry>

            <origin rpy = "0 0 0" xyz = "0.005 -0.015 0.010"/> 

        </collision>
        <visual>
            <geometry>
                <mesh filename="package://self_balancing_robot/meshes/WheelZTiny.dae"/>
            </geometry>

            <origin rpy = "0 0 0" xyz = "0.005 -0.015 0.010"/> 

        </visual>
    </link>
    <joint name ="Left_wheel_Joint" type = "revolute">
        <parent link = "Chassis"/>
        <child link = "Left_Wheel"/>
        <origin xyz = "0 -0.0875 0" rpy ="0 0 0.0"/>
        <limit effort="100" velocity="0.5"/>
        <axis xyz="0 1 0"/>
    </joint>
    <gazebo reference="Chassis">
        <static>true</static>
        <turnGravityOff>false</turnGravityOff>
    </gazebo>


</robot>
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Comments

You mention a video, but it looks like you forgot to add a link to it

chapulina gravatar imagechapulina ( 2017-07-26 10:02:42 -0500 )edit