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Problems with model, simulation behaves like there is moon gravity

Hi Guys,

i have pretty bad problems with my model of the KUKA youbot. I used this model with Gazebo-2 and ROS Indigo and all was pretty fine. Since i have went to Gazebo 7 - ROS Kinetic the model behaves strange like its falling in super slow motion and when i give velocity commands its doing a wheely.image description

I recently tried: - changing the inertias of all links - converted the model to a sdf file and spawned the sdf and nothing changed the result.

I tried also to use the official gazebo model of KUKA youbot, but every time I spawn it, the gazebo window hangs and i have to force a quit.

The unmodified model i use can be found here: github/luh_youbot_os. The inertias of the model might look much to big but the behavior is the same as with my modified model.

If someone has any idea, i will be grateful for help.

Problems with model, simulation behaves like there is moon gravity

Hi Guys,

i have pretty bad problems with my model of the KUKA youbot. I used this model with Gazebo-2 and ROS Indigo and all was pretty fine. Since i have went to Gazebo 7 - ROS Kinetic the model behaves strange like its falling in super slow motion and when i give velocity commands its doing a wheely.image description

I recently tried: - changing the inertias of all links - converted the model to a sdf file and spawned the sdf and nothing changed the result.

I tried also to use the official gazebo model of KUKA youbot, but every time I spawn it, the gazebo window hangs and i have to force a quit.

The unmodified model i use can be found here: github/luh_youbot_os. The inertias of the model might look much to big but the behavior is the same as with my modified model.

If someone has any idea, i will be grateful for help.

Edit: I debugged my nodes to control the robot in the simulation. These are basically the plugins of gazebo_ros_pksg that are slightly modified. The problem was the joint controller that uses a SetPosition() function in the UpdateChild() function of the controller. If anyone has a similar problem try the changes shown in the screenshots below:

This is how it looks before

image description

Here are the changes i made

image description

Problems with model, simulation behaves like there is moon gravity

Hi Guys,

i have pretty bad problems with my model of the KUKA youbot. I used this model with Gazebo-2 and ROS Indigo and all was pretty fine. Since i have went to Gazebo 7 - ROS Kinetic the model behaves strange like its falling in super slow motion and when i give velocity commands its doing a wheely.image description

I recently tried: - changing the inertias of all links - converted the model to a sdf file and spawned the sdf and nothing changed the result.

I tried also to use the official gazebo model of KUKA youbot, but every time I spawn it, the gazebo window hangs and i have to force a quit.

The unmodified model i use can be found here: github/luh_youbot_os. The inertias of the model might look much to big but the behavior is the same as with my modified model.

If someone has any idea, i will be grateful for help.

Edit: I debugged my nodes to control the robot in the simulation. These are basically the plugins of gazebo_ros_pksg that are slightly modified. The problem was the joint controller that uses a SetPosition() function in the UpdateChild() function of the controller. If anyone has a similar problem try the changes shown in the screenshots below:

This is how it looks before

image description

Here are the changes i made

image description