Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

URDF tutorial robot falls

urdf
gazebo

asked 2017-05-14 05:33:54 -0500

Kaonashi
38 ●4 ●6 ●9

Hello,

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

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2017-05-16 09:45:15 -0500

David Lu

10932 ●123 ●219 ●250 http://MetroRobots.com/

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

Comments

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 ( 2017-05-16 19:01:12 -0500 )edit

add a comment

Question Tools

1 follower

Stats

Asked: 2017-05-14 05:33:54 -0500

Seen: 165 times

Last updated: May 16 '17

URDF tutorial robot falls edit

1 Answer

Comments

Question Tools

Stats

Related questions

URDF tutorial robot falls