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problem with turning 6w robot, in one direction

Hi, im trying to simulate 6w-robot, i have problems with turning it, and some strange behaviour. video: https://youtu.be/HlLMFx4MvAY turning in left is okey, but in right some strange behaviour my urdf: https://pastebin.com/SGZgq3JP

P.S Hi, i fix jittery contacts,but it did not fix problem my urdf https://pastebin.com/0akZA8HB angle of wheel are different in both direction, https://youtu.be/Xrmn1ErzAGc

Asked by Pakras on 2019-07-24 00:51:49 UTC

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Answers

It seems that your wheel contact points are jittery when you are rotating right, but not when you are rotating left. This is probably what is causing it. You need to have better contact points.

Try setting the <implicitSpringDamper> to true for each wheel joint:

<gazebo reference="wheel_joint">
    <implicitSpringDamper>true</implicitSpringDamper>
</gazebo>

You also need to specify your surface/friction parameters in <gazebo> tags. Check out the URDF format: http://wiki.ros.org/urdf/XML/link and this Gazebo guide: http://gazebosim.org/tutorials/?tut=ros_urdf#%3Cgazebo%3EElementsForLinks

Asked by bhej on 2019-07-24 12:35:27 UTC

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