I'm a beginner in the ROS/Gazebo/robotics world. I started to work in a robotics research lab in my university, and I have to model an Hexapod. Apparently, the URDF Xacro is alright: the visuals, collisions, inertia tensors, COM, mass, joint tags, etc..
But when I spawn the model on GazeboSim, it doesn't get immovable. Instead, it get agitated. I thought is was caused by a bad inertia tensor, so I fixed the meshes from the original solid parts, calculated the mass properties and replaced the faulty inertial tags and meshes. But this couldn't solve the problem. When I was recording the screen to post this question, I have noticed that the most I increased the effort limit, the most it became agitated. Here's the video that shows this behavior. And you can see, in the _rostopic_ terminal, that the effort value applied to the joint is the max value (positive or negative) defined in the robot URDF Xacro file, and I don't know why this is happening.
Here's the URDF Xacro of the robot. And here's the repo too, in case you want to take a look at the project, with all the necessary files.
What can be made to solve this problem? I'm getting crazy with this problem haha
Thanks :D
P.S.: Sorry for my English.