Nonzero joint velocities for static position

asked 2021-10-14 10:23:20 -0500

RamilK gravatar image

Hello everyone! I am using ROS Melodic with Gazebo 9 and working with Unitree A1 quadruped robot model. Recently I found that joint_states shows considerable non-zero joint velocities when robot stands on the ground in static position. When I plot joint velocities in Gazebo values are also non-zero. However when I hung up the robot and use the same servo velocities are zero. I use unitree_legged_control package as a servo controller.

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Adding friction to joint may help with small movements in steady state, but I don't know, how big velocities are you experiencing. Also, you may have set too big simulation step resulting in unprecise physics computation.

m.bahno gravatar imagem.bahno ( 2021-10-15 04:37:54 -0500 )edit

Hi, I think I am experiencing a very similar problem with my model. Most likely this problem is not related to the ROS packare you are using, since I am not using ROS at all (I am using a model plugin). See my issue at my issue.

andrea_pat gravatar imageandrea_pat ( 2021-10-15 07:32:47 -0500 )edit