erratic referenced robot not moving in gazebo [closed]

asked 2011-11-07 10:46:07 -0500

kylefya3 gravatar image

we create our own robot named as pbot referenced as erratic robot, and all the urdf files are highly similar as erratic which has base and wheels. Our probot can be roslaunched in gazebo, and we trying to use

$ rosrun erratic_teleop erratic_keyboard_teleop

to control it,but the base is barely moving, only when push shit+W it moves suddenly a little bit sometimes.

I attached our pbot base urdf file and I'm wondering if anyone can give some clue how to fix it.

<robot name="powerbot" 
   xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
   xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
   xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
   xmlns:xacro="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">


<include filename="$(find pbot_description)/urdf/materials.urdf.xacro"/> <include filename="$(find pbot_description)/urdf/powerbot_wheel.xacro"/>

    <!-- base_footprint is a fictitious link(frame) that is on the ground right below base_link origin,
         navigation stack depends on this frame -->
    <link name="base_footprint">
        <inertial>
            <mass value="0.0001" />
            <origin xyz="0 0 0" />
            <inertia ixx="0.0001" ixy="0.0" ixz="0.0"
                     iyy="0.0001" iyz="0.0" 
                     izz="0.0001" />
        </inertial>

        <visual>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                <box size="0.001 0.001 0.001" />
            </geometry>
            <material name="Green" />
        </visual>

        <collision>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                 <box size="0.001 0.001 0.001" />
            </geometry>
        </collision>
    </link>


    <joint name="base_footprint_joint" type="fixed">
        <origin xyz="0 0 0.148" rpy="0 0 0" />        
        <parent link="base_footprint"/>
        <child link="base_link" />
    </joint>

    <!-- Base Link -->
    <link name="base_link">
        <inertial>
            <mass value="3.5" />
            <origin xyz="0 0 0" />
            <inertia ixx="1.0" ixy="0.0" ixz="0.0"
                     iyy="1.0" iyz="0.0" 
                     izz="1.0" />
        </inertial>

        <visual>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                <mesh filename="package://p2os_urdf/meshes/p3dx_meshes/chassis.stl"/>
            </geometry>
            <material name="ChassisRed" />
        </visual>

        <collision>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                <box size="0.40 0.27 0.1725"/>
            </geometry>
        </collision>
    </link>

    <joint name="base_top_joint" type="fixed">
    <origin xyz="0 0 0.08625" rpy="0 0 0"/>
    <parent link="base_link"/>
    <child link="top_plate"/>
</joint>

    <!-- Top -->
<link name="top_plate">
    <inertial>
    <mass value="0.1"/> 
    <origin xyz="0 0 0"/>
    <inertia ixx="1" ixy="0" ixz="0"
         iyy="1" iyz="0"
         izz="1"/>
    </inertial>

    <visual>
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <geometry>
        <mesh filename="package://p2os_urdf/meshes/p3dx_meshes/top.stl"/>
    </geometry>
            <material name="TopBlack"/>
    </visual>

    <collision>
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <geometry>
        <box size="0.45 0.38 0.01"/>
    </geometry>
    </collision>
</link>

    <joint name="base_caster_support_joint" type="continuous">
    <origin xyz="-0.14 0 -0.093" rpy="0 0 0"/>
    <axis xyz="0 0 1"/>
    <anchor xyz="0.01 0 0"/>
        <limit effort="100" velocity="100" k_velocity="0" />
        <joint_properties damping="0.0" friction="0.0" />
    <parent link="base_link"/>
    <child link="base_caster_support_link"/>
</joint>
    <transmission type="pr2_mechanism_model/SimpleTransmission" name="base_caster_support_trans">
        <actuator name="base_caster_support_motor" />
        <joint name="base_caster_support_joint" />
        <mechanicalReduction>1.0 ...
(more)
edit retag flag offensive reopen merge delete

Closed for the following reason question is not relevant or outdated by tfoote
close date 2013-09-06 13:26:40

Comments

Could you also include your transmission/joint configurations for each wheel?
DimitriProsser gravatar imageDimitriProsser ( 2011-11-08 00:42:34 -0500 )edit
yes, all included
kylefya3 gravatar imagekylefya3 ( 2011-11-15 08:15:11 -0500 )edit