Center of mass (in differential drive mobile base) after long time of simulation ( > 1h) stop working ?
I'm working on simulation of mobile base (gazebo as a environment for ROS project). During short tests (minutes) everything works as expected. If simulation last longer (> 1h or so) model starts to behave like its center of mass has changed?
If you have any ideas why will be appreciated.
I've attached some pictures and video to show what I am talking about and sources of the model
Mobile base leaning to front even if center of mass is at the back
Strange behavior in video (in the middle of the film)
One more video with strange behavior
Asked by wojtas on 2018-01-14 05:45:08 UTC
Comments
Could you post a picture of the robot with inertias enabled?
Asked by wentz on 2018-01-15 07:45:45 UTC
Sure. I've just edited the question.
Asked by wojtas on 2018-01-15 11:34:06 UTC
The inertia of the wheels look rotated by 90 degrees
Asked by chapulina on 2018-01-15 14:07:52 UTC
I've just corrected and waiting for results... and results are not good. I've uploaded video in question (One more video with strange behavior - https://youtu.be/iE1haRrbDtU )
Asked by wojtas on 2018-01-17 14:32:00 UTC