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make a moving/rotating platform for driving a robot

asked 2022-12-08 10:00:10 -0500

nagoldfarb gravatar image

updated 2022-12-08 10:01:52 -0500

Hello, I am trying to create a moving platform that can move in roll, pitch, yaw, Z. I want to test driving a robot on such a platform. I created a SDF platform and adapted this [code] (https://bitbucket.org/theconstructcor...) for controlling the movement. but the ground plane keep the platform from rolling/pitching. And if I remove the ground platform both the robot and platform fall. Is this possible ? what am I doing wrong? My ground platform is here:

    <?xml version="1.0"?>
<sdf version="1.4">
    <model name="SMP">
        <pose>0 0 2.0 0 0 0.0</pose>
      <link name="link">
        <inertial>
          <pose>0 0 0 0 0 0</pose>
          <mass>.1000</mass>

          <inertia>
            <ixx>9.99999999e+10</ixx>
            <ixy>0.0</ixy>
            <ixz>0.0</ixz>
            <iyy>9.99999999e+10</iyy>
            <iyz>0.0</iyz>
            <izz>9.99999999e+10</izz>
          </inertia>
        </inertial>
        <gavity>0</gravity>
        <collision name="collision">
          <geometry>
            <mesh>
              <uri>model://SMP/meshes/triangle.stl</uri>
              <scale>1 1 1 </scale>
          </mesh>
          </geometry>
          <surface>
              <friction>
                <ode>
                  <mu>10</mu>
                  <mu2>10</mu2>
                </ode>
              </friction>
            </surface>
        </collision>

        <visual name="visual">
          <geometry>

            <mesh>
              <uri>model://SMP/meshes/triangle.stl</uri>
              <scale>1 1 1 </scale>
          </mesh>
          </geometry>
        </visual>
      </link>
      <plugin name="plannar_mover_plugin" filename="libplannar_mover_plugin.so"/>
    </model>
</sdf>
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Comments

Your inertial numbers seem very extreme - where did you get those values?

Gavriel-CTO gravatar imageGavriel-CTO ( 2022-12-08 10:59:30 -0500 )edit

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answered 2022-12-12 20:43:39 -0500

Veerachart gravatar image

If this is not just the typo here <gavity>0</gravity>, then the first gavity should be gravity. Gravity is enabled by default. Anyway, with beginning and ending tags not the same, I believe the SDF should have complained about invalid xml...

As for the object hitting the ground plane, I think that is expected as you are using physics on the model, and both your model and the ground have collisions, so they will hit each other. With gravity set to false and no colliding with the ground, the plane should move as expected.

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Asked: 2022-12-08 10:00:10 -0500

Seen: 163 times

Last updated: Dec 12 '22