Controllers are unable to fight gravity in Gazebo simulation

asked 2013-12-16 06:10:16 -0500

miniME05
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updated 2013-12-16 06:27:46 -0500

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I am currently trying to simulate a robot in Gazebo using the ROS framework. I used this (www.gazebosim.org/wiki/Tutorials/1.9/ROS_Control_with_Gazebo) Tutorial to get an existing robot model running with the controller from the ros_control package. Everything works fine, the controller for each joints are up and running. I can use the corresponding ROS topics to send commands to each controller.

There is one slight problem: The controllers are even unable to fight the robots own weight. No mather what combination of PID gains I set for the controller, the robot is always pulled down by its own weight.

I am using a UR5 robot for simulation, the URDF file can be found here (www.github.com/ros-industrial/universal_robot/tree/groovy-devel/ur_description).

Here are two screenshots of the simulation, one with gravity enabled:

www.s14.directupload.net/images/131214/u6f4585l.jpg

and one with gravity disabled:

www.s1.directupload.net/images/131214/oya39ubp.jpg

Can anyone help me here?

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tanks for the hint. I will try to edit these values (later or tomorrow) and see if I can get the robot moving properly. Note: I didn't created that URDF file, so i assumed it should work. But 10 Nm on each joint doesn't sound like that much :) Edit: yea, the value of the effort limit was the problem

miniME05 ( 2013-12-16 06:30:13 -0500 )edit

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Controllers are unable to fight gravity in Gazebo simulation

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Controllers are unable to fight gravity in Gazebo simulation