Stacked object gives incorrect accerlerometer reading

asked 2022-03-01 08:01:09 -0500

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I have attached an accelerometer (use the gazebo plugin) to a cylinder, when the cylinder is on the ground plane, the accelerometer works fine. But when I stack the cylinder on top of another cylinder, the accelerometer gives very large and noisy readings.

The following is the physics paratmers:

<physics name='default_physics' default='0' type='ode'>
  <gravity>0 0 -9.8066</gravity>
  <magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>

and the cylinder parameters:

<model name='unit_cylinder'>
  <pose frame=''>-4.35932 0.783543 0.5 0 -0 0</pose>
  <link name='link'>
      <pose frame=''>0 0 0 0 -0 0</pose>
    <collision name='collision'>
    <visual name='visual'>

Is there any way to adjust the underlying physics to deal with the problem?

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