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Problem with the robot model moving itself

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.

Problem with the robot model moving itself

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 didn'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.

Problem with the robot model moving itself

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 didn'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.

Problem with the robot model moving itself

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 didn'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 Xacrothe robot description 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.