robot doesn't stay steady, gazebo9
link texthttps://www.youtube.com/watch?v=PmhsE...
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/</robotNamespace>
<legacyModeNS>true</legacyModeNS>
</plugin>
it was after this plugin
robotak_11.xacroall: https://paste.ubuntu.com/p/9vTQBC6MMh/
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/</robotNamespace>
<legacyModeNS>true</legacyModeNS>
</plugin>
</gazebo>
<xacro:macro name="gazebo_reference" params="ref mu1 mu2 kp kd"> <gazebo reference="${ref}"> <mu1 value="${mu1}"/> <mu2 value="${mu2}"/> <kp value="${kp}"/> <kd value="${kd}"/> </gazebo> </xacro:macro>
<xacro:property name="mu1" value="0.0"/> <xacro:property name="mu2" value="0.0"/> <xacro:property name="kp" value="0.0"/> <xacro:property name="kd" value="0.0"/>
<xacro:gazebo_reference ref="base_link" mu1="${mu1}" mu2="${mu2}" kp="${kp}" kd="${kd}" />
<!--xacro:gazebo_reference ref="omuz_kol_on_sol" mu1="${mu1}" mu2="${mu2}" kp="${kp}" kd="${kd}" />
<xacro:gazebo_reference ref="omuz_kol_on_sag" mu1="${mu1}" mu2="${mu2}" kp="${kp}" kd="${kd}" />
<xacro:gazebo_reference ref="omuz_kol_arka_sol" mu1="${mu1}" mu2="${mu2}" kp="${kp}" kd="${kd}" />
<xacro:gazebo_reference ref="omuz_kol_arka_sag" mu1="${mu1}" mu2="${mu2}" kp="${kp}" kd="${kd}" />
<xacro:gazebo_reference ref="kol_ayak_on_sol" mu1="${mu1}" mu2="${mu2}" kp="${kp}" kd="${kd}" />
<xacro:gazebo_reference ref="kol_ayak_on_sag" mu1="${mu1}" mu2="${mu2}" kp="${kp}" kd="${kd}" />
<xacro:gazebo_reference ref="kol_ayak_arka_sol" mu1="${mu1}" mu2="${mu2}" kp="${kp}" kd="${kd}" />
<xacro:gazebo_reference ref="kol_ayak_arka_sag" mu1="${mu1}" mu2="${mu2}" kp="${kp}" kd="${kd}" />
<xacro:gazebo_reference ref="base_link_omuz_on_sol" mu1="${mu1}" mu2="${mu2}" kp="${kp}" kd="${kd}" />
<xacro:gazebo_reference ref="base_link_omuz_on_sag" mu1="${mu1}" mu2="${mu2}" kp="${kp}" kd="${kd}" />
<xacro:gazebo_reference ref="base_link_omuz_arka_sol" mu1="${mu1}" mu2="${mu2}" kp="${kp}" kd="${kd}" />
<xacro:gazebo_reference ref="base_link_omuz_arka_sag" mu1="${mu1}" mu2="${mu2}" kp="${kp}" kd="${kd}" /-->
<xacro:gazebo_reference ref="kol_on_sol" mu1="${mu1}" mu2="${mu2}" kp="${kp}" kd="${kd}" />
<xacro:gazebo_reference ref="kol_on_sag" mu1="${mu1}" mu2="${mu2}" kp="${kp}" kd="${kd}" />
<xacro:gazebo_reference ref="kol_arka_sol" mu1="${mu1}" mu2="${mu2}" kp="${kp}" kd="${kd}" />
<xacro:gazebo_reference ref="kol_arka_sag" mu1="${mu1}" mu2="${mu2}" kp="${kp}" kd="${kd}" />
<xacro:gazebo_reference ref="ayak_on_sol" mu1="${mu1}" mu2="${mu2}" kp="${kp}" kd="${kd}"/> <xacro:gazebo_reference ref="ayak_on_sag" mu1="${mu1}" mu2="${mu2}" kp="${kp}" kd="${kd}"/> <xacro:gazebo_reference ref="ayak_arka_sol" mu1="${mu1}" mu2="${mu2}" kp="${kp}" kd="${kd}"/> <xacro:gazebo_reference ref="ayak_arka_sag" mu1="${mu1}" mu2="${mu2}" kp="${kp}" kd="${kd}"/> <xacro:gazebo_reference ref="omuz_on_sol" mu1="${mu1}" mu2="${mu2}" kp="${kp}" kd="${kd}"/> <xacro:gazebo_reference ref="omuz_on_sag" mu1="${mu1}" mu2="${mu2}" kp="${kp}" kd="${kd}"/> <xacro:gazebo_reference ref="omuz_arka_sol" mu1="${mu1}" mu2="${mu2}" kp="${kp}" kd="${kd}"/> <xacro:gazebo_reference ref="omuz_arka_sag" mu1="${mu1}" mu2="${mu2}" kp="${kp}" kd="${kd}"/>
<xacro:macro name="trans" params="ref"> <transmission name="swivel_${ref}"> <type>transmission_interface/SimpleTransmission</type> <joint name="${ref}">
<!--hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface-->
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="$swivel_${ref}_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</xacro:macro>
<xacro:trans ref="omuz_kol_on_sol"/> <xacro:trans ref="omuz_kol_on_sag"/> <xacro:trans ref="omuz_kol_arka_sol"/> <xacro:trans ref="omuz_kol_arka_sag"/>
</robot>
kollar.launch
<?xml version="1.0"?>
<launch>
<arg name="model" default="$(find robotak_11)/urdf/robotak_11.xacro"/>
<include file="$(find robotak_11)/launch/gazebo_xacro.launch">
<arg name="model" value="$(arg model)"/>
</include>
<rosparam command="load"
file="$(find robotak_11)/config/joint_names_robotak_11.yaml"
ns ...
Hello,
I would suggest you to look into the kp,kd, mu1 and mu2 values Gazebo Elements For Links
As far as I can see, you don't use meaningful inertia values (they are all 0). Fix that please and try again.