Simple Two wheeled Robot starts flying when force is applied.

asked 2020-05-28 12:51:38 -0500

shlock gravatar image

updated 2020-05-30 00:54:09 -0500

Hello I was following a tutorial and create a simple urdf of two wheeled robot with a castor wheel. I added the visual, collision and inertial values using a simple CAD i created on OnShape. I had no issues with rviz but when I spawned the model in gazebo first the robot keeps sliding slowly and is not still. When I apply some force to the joints the robot starts behaving weirdly and start bouncing and flying depending on the force value.

I tired changing the values of mass and tried different inertia values by changing the material. I created a similar model using sdf and it worked fine but i cannot get this urdf file to work. Can anyone please help me understand what is not configured properly?

C:\fakepath\robot_video.gif

I have provided the github link to all the files (launch urdf) in the package.

Thank you.

Githhub link

Update 1: I fixed the center of masses and the inertias to the proper orientation. Now the robot doesn't go flying on applying force but the wheels don't move till a threshold is passed and the start spinning extremely fast. What could be the problem?

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