Turtlebot3 slips on the Track which i built with Sketchup

asked 2019-07-08 10:28:25 -0600

huryou gravatar image

Dear all,

i made a kind of Track for Turtlebot in Sketchup, and i imported to Blender and exported.

So i made a world in gazebo and it looked fine. but i started to drive with Teleop_keyboard, it slips especially at curve and on the lane mark like generally on the surface.

i tried to change friction coefficient on both (Turtlebot and Track) in sdf file. and also ive changed some parameters which is recommended for slips in gazebo.

Could you check the sdf lines?

for the Track

<sdf version="1.6">
  <model name="Strecke">
    <static>true</static>
    <link name="link">
      <collision name="collision">
        <geometry>
          <mesh>
            <uri>model://streck/meshes/Streck.dae</uri>
          </mesh>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>100000.0</mu>
              <mu2>100000.0</mu2>
              <slip1>0</slip1>
              <slip2>0</slip2>
            </ode>
          </friction>
        </surface>
      </collision>
      <visual name="visual">
        <geometry>
          <mesh>
            <uri>model://streck/meshes/Streck.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
  </model>
</sdf>

for the Turtlebot3

<sdf version="1.5"> <model name="turtlebot3_waffle">

<link name="base">
  <inertial>
    <pose>-0.064 0 0.048 0 0 0</pose>
    <inertia>
      <ixx>1/12*m(h^2+d^2)</ixx>
      <ixy>0.000</ixy>
      <ixz>0.000</ixz>
      <iyy>1/12*m(h^2+d^2)</iyy>
      <iyz>0.000</iyz>
      <izz>1/12*m(h^2+d^2)</izz>
    </inertia>
    <mass>.0</mass>
  </inertial>

  <collision name="base_collision">
    <pose>-0.064 0 0.048 0 0 0</pose>
    <geometry>
      <box>
        <size>0.265 0.265 0.089</size>
      </box>
    </geometry>
  </collision>

  <visual name="base_visual">
    <pose>-0.064 0 0 0 0 0</pose>
    <geometry>
      <mesh>
        <uri>model://turtlebot3_waffle/meshes/waffle_base.dae</uri>
        <scale>0.001 0.001 0.001</scale>
      </mesh>
    </geometry>
  </visual>

  <collision name="right_caster_collision">
    <pose>-0.177 -0.064 -0.004 0 0 0</pose>
    <geometry>
      <sphere>
        <radius>0.005000</radius>
      </sphere>
    </geometry>
    <surface>
      <friction>
        <ode>
          <mu>100000.0</mu>
          <mu2>100000.0</mu2>
          <fdir1>0 0 0</fdir1>
          <slip1>0</slip1>
          <slip2>0</slip2>
        </ode>
      </friction>
    </surface>
  </collision>

  <collision name="left_caster_collision">
    <pose>-0.177 0.064 -0.004 0 0 0</pose>
    <geometry>
      <sphere>
        <radius>0.005000</radius>
      </sphere>
    </geometry>
    <surface>
      <friction>
        <ode>
          <mu>100000.0</mu>
          <mu2>100000.0</mu2>
          <fdir1>0 0 0</fdir1>
          <slip1>0</slip1>
          <slip2>0</slip2>
        </ode>
      </friction>
    </surface>
  </collision>
</link>

<link name="lidar">    
  <inertial>
    <pose>-0.052 0 0.111 0 0 0</pose>
    <inertia>
      <ixx>0.001</ixx>
      <ixy>0.000</ixy>
      <ixz>0.000</ixz>
      <iyy>0.001</iyy>
      <iyz>0.000</iyz>
      <izz>0.001</izz>
    </inertia>
    <mass>0.125</mass>
  </inertial>

  <collision name="lidar_sensor_collision">
    <pose>-0.052 0 0.111 0 0 0</pose>
    <geometry>
      <cylinder>
        <radius>0.0508</radius>
        <length>0.055</length>
      </cylinder>
    </geometry>
  </collision>

  <visual name="lidar_sensor_visual">
    <pose>-0.064 0 0.121 0 0 0</pose>
    <geometry>
      <mesh>
        <uri>model://turtlebot3_waffle/meshes/lds.dae</uri>
        <scale>0.001 0.001 0.001</scale>
      </mesh>
    </geometry> ...
(more)
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