Selfmoving Robot when time_step is too high
Hi everyone! I am new to ROS and Gazebo.
As one of my first projects I wanted to use this Simulation of an ackermann vehicle: https://github.com/incebellipipo/acke...
At first try everything went pretty fine, so the car is standing still as long as I am not sending any messages to its controller node. Just at I would expect.
Since my hardware is really slow I then changed the <max_time_step> parameter in the <physics> tag from
0.001 to 0.004 to get a better real time factor, thats when verything went horrible wrong, as you can see here:
I am not sending any message! The robot/car is moving by itself.
I increased the value, because it is mentioned here as highly effective - and yes it is, but with a huge side effect. The author of the answer there mentioned that one has to tune the controller gains when changing the physics update rate.
Could somebody tell me what exactly he means with that? Is he talking about the PID values? If so, which ones - and how to do that?
Thank you in advance!
System: Gazebo 9.13 and ROS Melodic Linux, UbuntuDDE, Latest as of today.
