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vibrations are possibly due to an error in the calculations of gravity compensation within gazebo.

Please see link: http://rethinkrobotics.interaforum.com/topic/490-vibrating-model/

vibrations are possibly due to an error in the calculations of gravity compensation within gazebo.

Please see link: http://rethinkrobotics.interaforum.com/topic/490-vibrating-model/Courtesy of Ian McMahon from RethinkRobotics:

vibrations are possibly due to an error in the calculations of gravity compensation within gazebo.

Courtesy of Ian McMahon from RethinkRobotics:

*The caveat when working with the simulator is that it will never perform exactly the same as the real robot. That said, you have indeed encountered a bug with how gravity_compensation_torques are being calculated: one of the KDL::JntArray vectors being used to calculate the gravity torques is being used uninitialized. The uninitialized values cause the calculated simulated gravity torque to vary a fair amount, which causes jitter. I have a fix for this that has not been yet merged into master, but I will hotfix the simulator shortly: https://github.com/RethinkRobotics/sawyer_simulator/compare/master...kinematics_gravity_torques#diff-3d709d3c805e7153135d0d32960a5b21L449 shortly:

https://github.com/RethinkRobotics/sawyer_simulator/compare/master...kinematics_gravity_torques#diff-3d709d3c805e7153135d0d32960a5b21L449

I will update this topic with details once merged into master. In the mean time, if you like living life on the bleeding edge, free to checkout the kinematics_gravity_torques branch on github:

$ roscd sawyer_gazebo && git fetch origin && git checkout kinematics_gravity_torques $ roscd sawyer_robot && git fetch origin && git checkout gravity_inertia $ catkin build*

vibrations are possibly due to an error in the calculations of gravity compensation within gazebo.

Courtesy of Ian McMahon from RethinkRobotics:

$ roscd sawyer_gazebo && git fetch origin && git checkout kinematics_gravity_torques
$ roscd sawyer_robot && git fetch origin && git checkout gravity_inertia
$ catkin build*
 build*