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hector_quadrotor_demo goes unstable when robot gets high enough..

asked 2012-12-09 13:31:02 -0500

SL Remy gravatar image

Related to a ros package, so originally asked on answers.ros.. but can anyone see a reason why a simulation would become unstable and subsequently crash because of the position of a robot in Gazebo? See video and another video here.

For reference in this is with roslaunch hector_quadrotor_demo outdoor_flight_gazebo.launch and rostopic pub /cmd_vel geometry_msgs/Twist '[0,0,0.1]' '[0,0,0]'

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Which version of Gazebo are you using?

nkoenig gravatar imagenkoenig ( 2012-12-10 12:20:59 -0500 )edit

Gazebo 1.6.16 (from ubuntu precise ros-fuerte packages)

SL Remy gravatar imageSL Remy ( 2012-12-11 10:01:32 -0500 )edit

Just for clarity, the above version number is not the version of Gazebo. That is the version of the ROS simulator_gazebo package. The actual Gazebo version is 1.0.2.

nkoenig gravatar imagenkoenig ( 2012-12-12 12:55:56 -0500 )edit

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answered 2012-12-13 14:22:32 -0500

SL Remy gravatar image

So far the answer seems related to the controller for the quadrotor.. the problem only appears to occur if both the imuTopic and the stateTopic are subscribed.

Still not sure why.. but when the controller reads data directly from gazebo link->GetWorldPose() and link->GetWorldLinearVel() instead of subscribing to the data that gazebo is publishing, the model is much more well behaved.

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Both of those topics are set by default in the quadrobor ubuntu debs.

SL Remy gravatar imageSL Remy ( 2012-12-13 14:23:45 -0500 )edit

answered 2012-12-12 12:57:06 -0500

nkoenig gravatar image

Gazebo 1.0.2 is very old, and no longer supported. I recommend upgrading to Gazebo 1.3. It will be much more stable.

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Will do soon, and will update the question if this is still an issue.

SL Remy gravatar imageSL Remy ( 2012-12-13 14:24:43 -0500 )edit

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Asked: 2012-12-09 13:31:02 -0500

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Last updated: Dec 13 '12