Why doesn't base_link lift itself up while it's been given forward velocity?
For self-balancing bot, the base_link, when above it's desired position, comes down if we provide negative velocity, but as soon as it's below the desired position, it can't lift itself upwards again even after providing positive velocity. Even after using PID, the bot once below it's desired position can't bring itself up again. Please can someone help me with this?
The following link is of my git repository for this bot:
https://github.com/Aryaman22102002/Wa...
The link below is a direct link to my sdf file:
https://github.com/Aryaman22102002/Wa...
The link below is a video of the issue I have been facing.
https://user-images.githubusercontent...
Please edit your description to explain the physical mechanism by which that platform can adjust itself to remain horizontal. You edit using the "edit" button at the end of your description.