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gazebo URDF collapsing - need tips for inertia (solved)

asked 2020-01-17 06:51:30 -0500

ROI gravatar image

updated 2020-01-19 13:12:22 -0500

Hi, I have a problem with gazebo spawning the links of my URDF model not correctly.

So figured out that it is still a problem with the inertia.

-I tried to fix it but could not make it stable. When adding link by link after the 5th part everything is collapsing. I removed the big table from the URDF, than there was a change but in the end it still collapses.

-I used the inertia calculated by Mashlab and I tried it with the inertia from SolidWorks, but there was no improvement. Using different masses for the links didnt change anything as well.

Question 1: should I build the complete testbench in solid works and than use the urdf_exporter? By now I build the URDF link by link...

Question 2: If I change the structure of the URDF in Gazebo but leave the old structure in MoveIt, would there be problems with the transformations ?

Question 1: should I build the complete testbench in solid works and than use the urdf_exporter? By now I build the URDF link by link...

'-->I didnt go that way but: I reduced fixed Joints to zero (except base_link). Making assemblies in SolidWorks and using the inertia from the urdf_exporter made it nearly stable when spawning. The model is still a little shaky, I will keep working on that.

ROI3000

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If you've solved this, please post the solution as an answer and accept your own answer.

gvdhoorn gravatar image gvdhoorn  ( 2020-01-20 02:31:53 -0500 )edit

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answered 2020-01-20 12:38:14 -0500

ROI gravatar image

Hi, so I solved the issue with the collapsing model. It is still a little shaky but I hope that it will improve.

Things I did to solve the Problem:

Question 1: should I build the complete testbench in solid works and than use the urdf_exporter? By now I build the URDF link by link...

  • I had the wrong world origin for the test bench. so I had to move up in z
  • And I reduced fixed joints in the URDF: connecting Links in SolidWorks (SW) and than exported them as one single part. And I used the inertial, which were calculated by the urdf_exporter.

By now I only have issues with the controller to use moveit and gazebo!

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Asked: 2020-01-17 06:51:30 -0500

Seen: 54 times

Last updated: Jan 20