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Youbot Gazebo Torque Control

asked 2018-02-06 21:36:48 -0500

lakehanne
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updated 2018-02-06 21:37:09 -0500

Hi there,

I am using youbot's mobile robot in gazebo to test a dynamic programming algorithm that I wrote up.

I am sending torques to each of the four wheels via the service call /gazebo/apply_joint_effort. For a force as little as 40 Newtons, I found that instead of the youbot driving forward/backward/sideways, it keeps somersaulting about the z-axis (see video at this link).

I am taken aback by this. Has anyone worked with the youbot urdf before in siumulation using torque control that had a similar experience to mine?

If so, how did you fix this problem?

Looking forward to your answers.

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answered 2018-02-08 00:17:49 -0500

lakehanne
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It seems the torque we give to the robot via the /gazebo/apply_joint_effort only causes an upward/downward acceleration of the whole robot body. Instead of giving it torques, we can give it force from gave it force though the wrench structure available in /gazebo/apply_body_wrench and set the torque fields to 0.

This would cause the robot to move in the x-y plane only.

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Asked: 2018-02-06 21:36:48 -0500

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Last updated: Feb 08 '18

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