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Planar move plugin make the manipulator's motion slow

Hi, I'm trying to simulate Kuka youbot with gazebo.
I have a question about gazebo planar move plugin.
Since kuka youbot has mechanum wheels, it needs to use gazebo planar move plugin.
So I followed this instruction and added the plugin.

As a result, the mobile platform works fine, however the manipulator on the platform looks weird.
Manipulator falls down because of gravity, but the motion is very slow.
And each joint requires more torques to move than without the plugin.

Why planar move plugin affects robot motion in the above way ?
How can I avoid this situation ?

Thanks in advance.

Asked by daichi on 2015-07-04 04:23:15 UTC

Comments

does the plugin change your realtime factor? Are there any forces working against the Plugin? (like the wheels)

Asked by evilBiber on 2015-08-05 06:39:13 UTC

Answers

Same question is asked on ROS' forum where I provided a possible workaround idea.

Asked by yah130s on 2015-11-05 04:36:17 UTC

Comments