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Any suggestions on avoiding the NaN explosion in DRC sim?

I've started seeing issues when we bring our controller online.

The joint commands being sent are valid. Position and velocity commands are continuous with default commands (0.0); effort values are valid but discontinuous.

About 50% of the time, the robot will fall into heap and start to report NaN values for joint velocities and efforts.

I'm going to experiment with using an initialization state that will ramp the efforts a bit more slowly.

One issue that concerns me is that this does not occur if I run the controller alone. It seems to be more of an issue when the larger system is connected. This may point to a timing issue, or something deeper within Gazebo.

Have others seen this issue specifically with DRC sim, and are there suggestions for avoiding or debugging?