Vibration in Gazebo model.

edit

Hi, I am trying to create a sdf file for two wheel robot. I can see in gazebo window that my model is vibrating constantly, When I only run the base or wheel alone they don't vibrate. I am sharing my sdf and launch file, Any help would be much appreciated.

<sdf version="1.6">
  <model name="two_wheel_robot">
    <!-- Base Link -->
    <link name="base_link">
      <pose>0 0 0 0 0 0</pose>
      <collision name="base_link_collision">
        <geometry>
          <box>
            <size>0.1 0.2 0.05</size>
          </box>
        </geometry>
      </collision>
      <visual name="base_link_visual">
        <geometry>
          <box>
            <size>0.1 0.2 0.05</size>
          </box>
        </geometry>
      </visual>
    </link>

    <!-- Left Wheel -->
    <link name="left_wheel">
      <pose>0 0.12 -0.025 1.5707 0 0</pose> <!-- Adjusted for cylinder orientation and position -->
      <collision name="left_wheel_collision">
        <geometry>
          <cylinder>
            <radius>0.05</radius>
            <length>0.02</length>
          </cylinder>
        </geometry>
      </collision>
      <visual name="left_wheel_visual">
        <geometry>
          <cylinder>
            <radius>0.05</radius>
            <length>0.02</length>
          </cylinder>
        </geometry>
      </visual>
    </link>

    <!-- Right Wheel -->
    <link name="right_wheel">
      <pose>0 -0.12 -0.025 1.5707 0 0</pose> <!-- Adjusted for cylinder orientation and position -->
      <collision name="right_wheel_collision">
        <geometry>
          <cylinder>
            <radius>0.05</radius>
            <length>0.02</length>
          </cylinder>W
        </geometry>
      </collision>
      <visual name="right_wheel_visual">
        <geometry>
          <cylinder>
            <radius>0.05</radius>
            <length>0.02</length>
          </cylinder>
        </geometry>
      </visual>
    </link>


  <!-- Joints -->
  <joint name="left_wheel_joint" type="revolute">
    <parent>base_link</parent>
    <child>left_wheel</child>
    <axis>
      <xyz>0 1 0</xyz>
      <limit>
        <lower>-3.14</lower>
        <upper>3.14</upper>
      </limit>
    </axis>
  </joint>

  <joint name="right_wheel_joint" type="revolute">
    <parent>base_link</parent>
    <child>right_wheel</child>
    <axis>
      <xyz>0 1 0</xyz>
      <limit>
        <lower>-3.14</lower>
        <upper>3.14</upper>
      </limit>
    </axis>
  </joint>



  </model>
</sdf>

This is my world file

<?xml version="1.0" ?>

<sdf version="1.5">
    <world name="default">
        <!-- A global light source -->
        <include>
            <uri>model://sun</uri>
        </include>

        <!-- A ground plane -->
        <include>
            <uri>model://ground_plane</uri>
        </include>

       <!-- Physics engine settings -->
        <physics type="ode">
            <real_time_update_rate>1000.0</real_time_update_rate>
            <max_step_size>0.01</max_step_size>
        </physics>

        <!-- Our custom model -->
        <include>
            <uri>model://my1stmodel</uri>
        </include>

    </world>
</sdf>