Parts are rotating with no input

asked 2023-01-25 09:13:18 -0500

aidandelli gravatar image

Repost from the ROS2 forum to hopefully get more feedback.

Hello, a team and I are attempting to build a 3-wheel holonomic drive robot in a small form factor and we are having trouble implementing our design in Gazebo. I followed a YT tutorialto convert our design in solidworks to a URDF and it seems to work fine, but once in Gazebo, the rims and rollers both rotate arbitrarily with no input. Does anyone know why this happens and how to make it stop? Here is a vid showing what happens with no user input:

Another thing we noticed is that the inertia values for both the rims and rollers all seem to be substantially lower than they should be (like 1000x+ off). Is this common? How could we fix this too without doing all the calculations manually and overriding them?

We are using an empty world and only ros2_control plugin.

edit retag flag offensive close merge delete