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

asked 2016-04-22 08:22:01 -0600

murdock gravatar image

updated 2016-04-22 08:24:33 -0600


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.

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

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

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answered 2016-04-25 01:59:01 -0600

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">
  <gravity>0 0 -9.81</gravity>
  <magnetic_field>0.000006 0.000023 -0.000042</magnetic_field>

This reduce the robot movement for me.

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Asked: 2016-04-22 08:22:01 -0600

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Last updated: Apr 25 '16