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Issues with the physical simulation of gazebo

asked 2013-10-23 11:59:23 -0600

mikegao88 gravatar image

Hello! I encounter an issue regarding the physical simulation of gazebo, which is that the object in the simulated world keeps rolling over forever and just does not stop. I have uploaded related files (including the model file and world file) to help solve the problem:

Although I set the friction parameters for both the world and the object, the problem still exists. When I use box to approximate the object model, the object shakes forever and does not stop.

I use gazebo 1.9.1 in ubuntu precise 32bit. Thanks for any help!

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No one helps with this?

mikegao88 gravatar imagemikegao88 ( 2013-10-25 09:02:48 -0600 )edit

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answered 2013-10-25 12:43:27 -0600

nkoenig gravatar image

updated 2013-10-25 13:01:23 -0600

When objects jitter, it's usually because the inertia values are bad or the physics timestep size is too large.

You can cause a sphere to slowly stop rolling by applying a velocity decay value.

I modified your a bit, and the box seems stable:

<sdf version='1.4'>
  <world name='default'>


    <physics type='ode'>
      <gravity>0 0 -9.8</gravity>

    <model name='batterie'>
      <pose>5.486 2.3746 0.5 0 -0 0</pose>
      <link name='link'>
            <ixx>1</ixx> <ixy>0</ixy> <ixz>0</ixz>
            <iyy>1</iyy> <iyz>0</iyz>

        <collision name='collision'>
              <size>0.15 0.3 0.075</size>

        <visual name='visual'>
              <size>0.15 0.3 0.075</size>

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Asked: 2013-10-23 11:59:23 -0600

Seen: 1,475 times

Last updated: Oct 25 '13