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robot teleporting to origin with broken joints

Hi all,

From time to time, all the links of my robot teleport to the origin... I have seen the following issue on GitHub, but I don't know if it is related : https://github.com/osrf/gazebo/issues/2239

image description

On my robot, I am not using revolute2 joints. And the issue only occurs when the car is turning and driving at 3 m/s. It also happens when I tune the PIDs of the wheels. What am I doing wrong ? I am using Gazebo 9.0 with ROS Melodic on Ubuntu 18.04.

The code: urdf, and control is available here: https://github.com/AntoineRichard/racecar

To start the simultation:

roslaunch racecar_description racecar_empty.launch roslaunch racecar_control spawn_racecar_with_controller.launch namespace:=racecar

Thanks,

Antoine

robot teleporting to origin with broken joints

Hi all,

From time to time, all the links of my robot teleport to the origin... I have seen the following issue on GitHub, but I don't know if it is related : https://github.com/osrf/gazebo/issues/2239

image description

On my robot, I am not using revolute2 joints. And the issue only occurs when the car is turning and driving at 3 m/s. It also happens when I tune the PIDs of the wheels. What am I doing wrong ? I am using Gazebo 9.0 with ROS Melodic on Ubuntu 18.04.

The code: urdf, and control is available here: https://github.com/AntoineRichard/racecar

To start the simultation:

roslaunch racecar_description racecar_description racecar_empty.launch

racecar_empty.launch roslaunch racecar_control spawn_racecar_with_controller.launch

roslaunch racecar_control spawn_racecar_with_controller.launch namespace:=racecar

Thanks,

Antoine

robot teleporting to origin with broken joints

Hi all,

From time to time, all the links of my robot teleport to the origin... I have seen the following issue on GitHub, but I don't know if it is related : https://github.com/osrf/gazebo/issues/2239

image description

On my robot, I am not using revolute2 joints. And the issue only occurs when the car is turning and driving at 3 m/s. It also happens when I tune the PIDs of the wheels. What am I doing wrong ? I am using Gazebo 9.0 with ROS Melodic on Ubuntu 18.04.

The code: urdf, and control is available here: https://github.com/AntoineRichard/racecar

To start the simultation: reproduce the issue:

roslaunch racecar_description racecar_empty.launch

roslaunch racecar_control spawn_racecar_with_controller.launch namespace:=racecar

rosrun rqt_gui rqt_gui

In the rqt_gui add a publisher plugin: using the upper navigation tabs open the plugins tab, and open the publisher plugin. Then add /racecar/cmd_drive topic, have it publishing at 20Hz. In the drive set the velocity to 1 and put a in the steering_angle: sin(i/10)

Thanks,

Antoine