# Revision history [back]

### force ground truth value keeps bouncing

I use a gazebo_ros_f3d plugin to check force ground truth value of gripper_roll_link. Here is the part of code of robot.xacro

<!--//////////////add gazebo_ros_f3d contcat sensor!!!!!!/////////////////-->
<gazebo>
<plugin name="grasping_frame_contact_sensor_controller" filename="libgazebo_ros_f3d.so">
<alwaysOn>true</alwaysOn>
<updateRate>30.0</updateRate>
<robotNamespace>/seven_dof_arm</robotNamespace>
</plugin>
</gazebo>


Problem: Why the value keeps bouncing between positive and negative ? It is extremely unstable.

My guess is the inappropriate setting of moments of inertia of links, does it make sense?

### force ground truth value keeps bouncing

I use a gazebo_ros_f3d plugin to check force ground truth value of gripper_roll_link. Here is the part of code of robot.xacro

<!--//////////////add gazebo_ros_f3d contcat sensor!!!!!!/////////////////-->
<gazebo>
<plugin name="grasping_frame_contact_sensor_controller" filename="libgazebo_ros_f3d.so">
<alwaysOn>true</alwaysOn>
<updateRate>30.0</updateRate>
<robotNamespace>/seven_dof_arm</robotNamespace>
</plugin>
</gazebo>


Problem: Why the value keeps bouncing between positive and negative ? It is extremely unstable.

My guess is the inappropriate setting of moments of inertia of links, does it make sense?

### force ground truth value keeps bouncingbouncing between positive and negative

I use a gazebo_ros_f3d plugin to check force ground truth value of gripper_roll_link. Here is the part of code of robot.xacro

<!--//////////////add gazebo_ros_f3d contcat sensor!!!!!!/////////////////-->
<gazebo>
<plugin name="grasping_frame_contact_sensor_controller" filename="libgazebo_ros_f3d.so">
<alwaysOn>true</alwaysOn>
<updateRate>30.0</updateRate>
<robotNamespace>/seven_dof_arm</robotNamespace>
</plugin>
</gazebo>


Problem: Why the value keeps bouncing between positive and negative ? It is extremely unstable.

My guess is the inappropriate setting of moments of inertia of links, does links where all the values of moments of inertia are made-up. Does it make sense?

### force ground truth value keeps bouncing between positive and negative

I use a gazebo_ros_f3d plugin plugin to check force ground truth truth value of one of arm link, gripper_roll_link. Here is the part of code of robot.xacro

<!--//////////////add gazebo_ros_f3d contcat sensor!!!!!!/////////////////-->
<gazebo>
<plugin name="grasping_frame_contact_sensor_controller" filename="libgazebo_ros_f3d.so">
<alwaysOn>true</alwaysOn>
<updateRate>30.0</updateRate>
<robotNamespace>/seven_dof_arm</robotNamespace>