[Gazebo] Model becomes unstable

asked 2021-07-17 10:55:20 -0600

duy_nguyen gravatar image

updated 2021-07-19 14:35:47 -0600

Hello fellow community members, I'm currently working on my own controller (PID based) for quadrocopters utilizing Gazebo and the RotorS/Mavros packages on Ubuntu 20.04 on ROS noetic. The outputs are published as motor_speed commands (as you can see in the GIF the command stays stable) for testing purposes I'm currently only using the proportional part of the controller to tune the gain. But while settling close to a the target the model becomes unstable and crashes. Higher gains lead to two or three oscillation periods and instability after that... Is there a known issue with gazebo and instability? Or does anyone who has worked with gazebo know whether this could be an issue of publishing rate or similar?

Thank you very much in advance

Youtube Link

edit retag flag offensive close merge delete