Hello everyone,

I've been through a pair of answers on this forum concerning robot bouncing but found nothing that helped me :/ On a side note I'm relatively new to ROS and GAZEBO so I might have done steps wrong. I join the XML code hoping someone will find why my robot keep boucing following the Y axis.

Sincerely yours, Anonymate passionate

//mybot.xacro

<?xml version='1.0'?>

<collision>
  <origin xyz="-0.04 0 0.048" rpy="0 0 0"/>
  <geometry>
  <mesh filename="package://mybot_description/meshes/test.dae"/>

  </geometry>
</collision>

<visual>
  <origin xyz="-0.04 0 0.048" rpy="0 0 0"/>
  <geometry>
    <mesh filename="package://mybot_description/meshes/test.dae"/>

  </geometry>
</visual>

<visual name='chassis_visual4'>
  <origin xyz="${Xorigin} ${Yorigin} ${Zorigin}" rpy=" 0 0 0"/>
  <geometry>
    <box size="${Xsize} ${Ysize} ${Zsize}"/>
  </geometry>
</visual>

<visual name='chassis_visual5'>
  <origin xyz="${Xorigin} ${-1*Yorigin} ${Zorigin}" rpy=" 0 0 0"/>
  <geometry>
    <box size="${Xsize} ${Ysize} ${Zsize}"/>
  </geometry>
</visual>

0 0 1.0 1.0

<visual name='caster_front_visual1'>
  <origin xyz="0.09 -0.06 0.0245" rpy=" 0 0 0"/>
  <geometry>
    <sphere radius="0.007"/>
  </geometry>
</visual>


<collision name='caster_front_collision2'>
  <origin xyz="0.09 0.06 0.0245" rpy=" 0 0 0"/>
  <geometry>
    <sphere radius="0.007"/>
  </geometry>
  <surface>
    <friction>
      <ode>
        <mu>0</mu>
        <mu2>0</mu2>
        <slip1>1.0</slip1>
        <slip2>1.0</slip2>
      </ode>
    </friction>
  </surface>
</collision>

<visual name='caster_front_visual2'>
  <origin xyz="0.09 0.06 0.0245" rpy=" 0 0 0"/>
  <geometry>
    <sphere radius="0.007"/>
  </geometry>
</visual>

<!--origin xyz="0.1 0.13 0.1" rpy="0 1.5707 1.5707"/-->

<!--origin xyz="0.1 -0.13 0.1" rpy="0 1.5707 1.5707"/-->

<visual>
  <origin xyz="0 0 0" rpy="0 0 0"/>
  <geometry>
    <mesh filename="package://mybot_description/meshes/hokuyo.dae"/>
  </geometry>
</visual>

<inertial>
  <mass value="1e-5" />
  <origin xyz="0 0 0" rpy="0 0 0"/>
  <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
</inertial>

<!--origin xyz="0.1 0.13 0" rpy="0 1.5707 1.5707"/-->

<!--origin xyz="0.1 -0.13 0" rpy="0 1.5707 1.5707"/-->