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Gazebo slipping problem

asked 2020-03-25 09:53:17 -0500

Wasadim gravatar image


we are working on pick and place project in ros melodic - using simulation on gazebo 9, and we encounter a problem with a slipping. Wideo of the behavior can be seen at this link: youtube

the settings for our gripper and object are as follows:


    <!-- LinkRightFinger -->
    <gazebo reference="${robot_name}_rightfinger">

    <!-- LinkLeftFinger -->
    <gazebo reference="${robot_name}_leftfinger">


    <?xml version="1.0" ?>
    <sdf version='1.6'>
      <model name="cuboid">
        <link name='link'>
          <collision name='collision'>
                <size>0.060 0.060 0.180</size>
          <visual name='visual'>
                <size>0.060 0.060 0.180</size>

and controller settings - control.yaml:

        type: position_controllers/JointTrajectoryController
            - panda_finger_joint1
            - panda_finger_joint2
            goal_time: 0.6
            stopped_velocity_tolerance: 0
            panda_finger_joint1: {trajectory: 0.1, goal: 0.1}
            panda_finger_joint2: {trajectory: 0.1, goal: 0.1}

        stop_trajectory_duration: 1.0

        state_publish_rate: 100
        type: panda_simulation/JointPositionController
        arm_id: panda
            - panda_joint1
            - panda_joint2
            - panda_joint3
            - panda_joint4
            - panda_joint5
            - panda_joint6
            - panda_joint7
        gains: [1, 1, 1, 1, 1, 1, 1]

i know of a JenniferBuehler/gazebo-pkgs grasping pluggin witch i implemented solving this issiue - but i dont like this approach and i want to do it in less cheaty way.

The physics engine we are using is ODE, and i didnt try to change it yet. Can it be a source of our problem?

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1 Answer

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answered 2020-03-25 23:25:28 -0500

FadiAlladkani gravatar image

Based on what I know of gazebo, for pick and place operations you are better off using effort controllers rather than position controllers. Try switching the controllers to effort controllers and see if that helps the situation.

Other than that, you can also add some surface properties to the box and/or gripper to give them more realistic friction values to help gazebo better calculate the contact forces

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I would add to this comment and mention that if this simulation is important enough to you, I think you are likely better off not using Gazebo_ros controllers. They often get the job done, but there is a lot of nonsense happening behind the scenes which can cause many difficulties. You will waste a lot of time trying to understand what is going on and even then it may not be entirely clear.

AdamGronewold gravatar image AdamGronewold  ( 2021-07-06 19:14:49 -0500 )edit

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Asked: 2020-03-25 09:53:17 -0500

Seen: 1,993 times

Last updated: Mar 25 '20