Ask Your Question
0

Why Gazebo's/pose/info is changing dramatically when robot is not moving?

asked 2016-04-22 08:22:01 -0500

murdock gravatar image

updated 2016-04-22 08:24:33 -0500

Hey,

So I found in Gazebo that I can see a window with a topic ~/pose/info (I assume its the same as echo). So I have my sample robot sitting in its starting position, I havent moved it at all, however position x keeps reducing and y keeps increasing.

image description

Here is another picture to prove you that those two variables are changing when robot's position stays the same after around 10 seconds.

image description

Why is this happening? I thought this would show me ground truth data that I could use in calculations later on.

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted
1

answered 2016-04-25 01:59:01 -0500

F.Brosseau gravatar image

I have the same problem. It can be due to mass/inertia settings of your model's links.

You can also try to add these lines to your world file between the world tag :

<physics type="ode">
  <max_step_size>0.001</max_step_size>
  <real_time_factor>1</real_time_factor>
  <real_time_update_rate>1000</real_time_update_rate>
  <gravity>0 0 -9.81</gravity>
  <magnetic_field>0.000006 0.000023 -0.000042</magnetic_field>
  <ode>
    <solver>
      <type>quick</type>
      <iters>200</iters>
      <sor>1.3</sor>
      <use_dynamic_moi_rescaling>0</use_dynamic_moi_rescaling>
    </solver>
    <constraints>
      <cfm>0</cfm>
      <erp>0.2</erp>
      <contact_max_correcting_vel>100.0</contact_max_correcting_vel>
      <contact_surface_layer>0.001</contact_surface_layer>
    </constraints>
  </ode>
</physics>

This reduce the robot movement for me.

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower

Stats

Asked: 2016-04-22 08:22:01 -0500

Seen: 132 times

Last updated: Apr 25 '16