Gazebo | Ignition | Community
Ask Your Question

BDI walking does not work in my PC.

asked 2013-04-09 02:11:26 -0600

Yuto Nakanish gravatar image

updated 2013-04-09 02:19:22 -0600


I tried BDI walking script, but it did not work. Atlas failed to walk in simulation world. Is it 'my' problem? I want to know whether another user can success atlas BDI walking or not.

I did following process for testing. drcsim version is 2.3.

1)start simulation

 $ roslaunch atlas_utils atlas.launch

2)run BDI walking scripts

 $ cd /usr/share/drcsim-2.3/ros/atlas_utils/scripts
 $ ./

Then, atlas falls down.

edit retag flag offensive close merge delete


If you reset the world/model pose, and then run again, it works (for me at least). Not that this is all that helpful, but if you just needed to collect some data...

klowrey gravatar imageklowrey ( 2013-04-09 12:04:50 -0600 )edit

2 Answers

Sort by ยป oldest newest most voted

answered 2013-04-09 05:08:26 -0600

Jose Luis Rivero gravatar image

It's a known (and fixed) problem for the current drcsim_2.3 packages

Immediate solution: It was fixed in the drcsim 2.3 branch of drcsim repository. To have it working compile drcsim from source using the drcsim_2.3 branch.

Short term solution: A short release cycle for this 2.3.1 version is planned which will ship this fix and can be installed using ubuntu packages.

edit flag offensive delete link more


I uses 2.3.1 but the robot falls ii drcsim 2.3.1-1~precis Darpa Robotics Challengue (DRC) simulator

Kei Okada gravatar imageKei Okada ( 2013-04-10 10:49:11 -0600 )edit

answered 2013-04-10 17:23:32 -0600

dcconner gravatar image

updated 2013-04-10 17:25:00 -0600

The released version is still 1.0.3, which requires the smaller time step and higher iterations.

Follow the tutorial to set the world to use 90 iterations and 0.000333 second time step.

roslaunch atlas_utils atlas.launch

That works for me.

Until 1.0.5 is released, the robot falls at 40 iters and 0.001 second time step.

edit flag offensive delete link more
Login/Signup to Answer

Question Tools



Asked: 2013-04-09 02:11:26 -0600

Seen: 173 times

Last updated: Apr 10 '13