Gazebo | Ignition | Community
Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version

Robot slips on ground while moving arm

I have a WidowX arm in Gazebo. I control the arm using moveit package. In the moveit package, I provide a goal configuration and then plan and execute planned trajectory. The problem now is that when the robot performs the arm movement in Gazebo, the base of the robots slips on the ground plane. It seems as if there is no friction at all between robot base and the ground plane.

Robot Slipping

To solve the slipping problem, I referred to gazebo documentation, where it said to create a virtual joint between the base and ground.Link That did not resolve the problem. Since, I am training a learning algorithm on the robot, I don't want the robot to move. Please let me know how I can prevent the slipping problem.