My robot explodes after sending msgs to the wheels in the gazebo
Hello there,
I have a robot with a triangular form chassis and three 120 degrees each omniwheel apart.
I have built the urdf of my robot and I separated my omniwheel into two parts the rim and the roller(s).
I have approx calculated the inertia of each part. Also when I ran the teleop_keypoard and I move it forward the value of the topic for instance right_joint_velocity_controller/command
is approx 11.32(S.I.= ? I suppose its rad/s). I think that the problem is in the PID values, if so how can I configure these values?
I have putted this transmission tag in my rim joints:
<transmission name="rim_${name}_transmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="rim_${name}_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="rim_${name}_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
and the yaml file:
demo_DIR:
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50
left_joint_velocity_controller:
type: effort_controllers/JointVelocityController
joint: rim_left_joint
pid: {p: 0.05, i: 0.1, d: 0.0}
back_joint_velocity_controller:
type: effort_controllers/JointVelocityController
joint: rim_back_joint
pid: {p: 0.05, i: 0.1, d: 0.0}
right_joint_velocity_controller:
type: effort_controllers/JointVelocityController
joint: rim_right_joint
pid: {p: 0.05, i: 0.1, d: 0.0}
what do you mean by explodes?
It starts to fly and the parts(links) are ripped apart, after I send a command to the wheels with values up 1.5 m/s from teleop
oh, you must mean in simulation! That wasn't clear from your question. Sounds more like a simulation error to me than a control issue.
haha sorry for that... I will update my question. So that means I can't fix it?
I've seen it before but don't have a good understanding what is causing it. I seem to remember that sometimes it can be "fixed" by adjusting the real-time factor of gazebo. I'm almost certain that you'll find existing questions and answers for this though, if you specifically look for simulations going wild.