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2

wheels of mobile 4 wheel robot tilt in gazebo when trying to rotate about its axis.

asked 2020-01-11 06:18:35 -0500

prabin_rath
31 ●1 ●2 ●7

The joints in the robot are continuous. but when the robot tries to change its yaw, the wheel joints deform as if due to friction the robot is not able to rotate. I tried to change the link mass and friction values but no effect. I don't understand why the joints ane not stiff. problem screenshot This image shows the problem.

If anyone faced this kind of problem earlier, please help. Thanks

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Hi there, I encountered the same problem. Have you found a solution?

Hermansiak ( 2021-05-19 14:01:58 -0500 )edit

Hi , Any update on this issue ?

amjack ( 2022-02-10 07:07:23 -0500 )edit

Yes, I was able to fix this issue. Sorry for not updating this thread. I have put my solution in the answers, please find it there.

prabin_rath ( 2022-02-10 07:47:04 -0500 )edit

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answered 2022-02-10 07:50:10 -0500

prabin_rath
31 ●1 ●2 ●7

updated 2022-02-10 07:50:35 -0500

The solution to this problem can be found in the updated xacro for this robot at description file

<dynamics damping="0"/>

The property of the joint needs to be mentioned in the robot description to avoid such deformation of joint. I hope that helps.

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Asked: 2020-01-11 06:16:31 -0500

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Last updated: Feb 10 '22

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