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what should be done to keep PR2 stationary on a ramp? [closed]

asked 2012-04-09 23:53:52 -0500

ChickenSoup gravatar image

updated 2016-05-17 02:37:40 -0500

Hello all,

In Gazebo simulation, the PR2 goes down a ramp due to gravity ; I assume the wheel base controller still applies 0 velocity for the wheels. How should I keep PR2 stationary? What changes should be made in the base controller, URDF, transmission?

Thanks in advance.


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Closed for the following reason the question is answered, right answer was accepted by Martin Günther
close date 2016-05-17 03:27:47.922078


if the command velocity is applied continuously, PR2 will move on the ramp but why can't I stop it on the ramp? any suggestions please.

ChickenSoup gravatar image ChickenSoup  ( 2012-04-15 20:30:14 -0500 )edit

actually my original question is to move a custom robot on a terrain. But, first I tried moving it on a ramp. and it just goes down due to gravity and it is same with the PR2 on a ramp. I hope someone who has worked on robots on a terrain could help me. Thanks.

ChickenSoup gravatar image ChickenSoup  ( 2012-04-17 13:25:15 -0500 )edit

The PR2 does this in real life too. On the real PR2, turning the casters sideways usually stops it, but it's unstable.

ahendrix gravatar image ahendrix  ( 2013-12-27 19:28:33 -0500 )edit

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answered 2013-12-20 14:53:26 -0500

ChickenSoup gravatar image
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Asked: 2012-04-09 23:53:52 -0500

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Last updated: May 17 '16