ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

URDF tutorial robot falls

asked 2017-05-14 05:33:54 -0600

Kaonashi gravatar image


I followed the R2D2 URDF tutorial and constructed a nice R2D2 robot. Now when I drive the robot, R2D2 tilts to his back. It is like his wheels have so much grip, that they run away under his body. I tried different configurations of mu1, mu2, kd, kp but none of it really worked.
Hope this picture makes my problem clear.
And here is my URDF-File
Would be great if somebody has a hint, where to look at, or had a similar problem.

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2017-05-16 09:45:15 -0600

David Lu gravatar image

The tutorial aims to show the basic workings of the interaction with Gazebo, and falls a bit short of presenting a usable robot model. You should be able to drive at a lower speed and have it not tip over. Best of luck.

edit flag offensive delete link more


Thanks for your reply. Do you have any recommendations for a tutorial of a "usable" model? Or any idea, how to make R2D2 usable?

Kaonashi gravatar image Kaonashi  ( 2017-05-16 19:01:12 -0600 )edit

Question Tools

1 follower


Asked: 2017-05-14 05:33:54 -0600

Seen: 160 times

Last updated: May 16 '17