gazebo ros control not working for large urdf

asked 2021-11-13 23:55:25 -0500

932 ●201 ●254 ●280 http://vikatrobotics.com

When i test the gazebo ros control plugin with diff drive ros controller in small urdf the robot is moving properly when sending the twist command. But when i use the large urdf i.e full body of robot with same confirugration robot is not moving neither any error or warning msg is comming. here the screenshot of full robot: image description

When only base is used by removing the upper parts the ros controllers are working like charm. How should i debug gor resolve this issue, since the issue could be also related to ros_controllers i.e diff drive controller.

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answered 2021-11-14 01:46:47 -0500

dinesh

932 ●201 ●254 ●280 http://vikatrobotics.com

I found the issue. I had added the joint limites to the left and right wheel of type continues joint which was not neccessary, after i removed it this issue has been solved. This is the urdf now:

<?xml version="1.0" encoding="utf-8"?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
     Commit Version: 1.6.0-1-g15f4949  Build Version: 1.6.7594.29634
     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
  name="bini">
  <link
    name="base_link">
    <inertial>
      <origin
        xyz="-0.000974249882031576 -9.78826166007437E-05 0.00780978465523864"
        rpy="0 0 0" />
      <mass
        value="10.589357107049" />
      <inertia
        ixx="0.189832532176186"
        ixy="-5.08208130976939E-05"
        ixz="-0.000132652446732943"
        iyy="0.232099873616206"
        iyz="-1.59893088223653E-06"
        izz="0.412084574276852" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://bini_description/meshes/base_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://bini_description/meshes/base_link.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="right_wheel">
    <inertial>
      <origin
        xyz="1.08490216931377E-07 9.3956709841525E-07 0.0412241882606272"
        rpy="0 0 0" />
      <mass
        value="0.99084069927183" />
      <inertia
        ixx="0.00172004677021908"
        ixy="3.56311548599628E-10"
        ixz="7.39797549611567E-10"
        iyy="0.00172003921089414"
        iyz="-2.29303724268573E-08"
        izz="0.00302659678949164" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://bini_description/meshes/right_wheel.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://bini_description/meshes/right_wheel.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_wheel_joint"
    type="continuous">
    <origin
      xyz="0 -0.2709 -0.022"
      rpy="-1.5707963267949 0 0" />
    <parent
      link="base_link" />
    <child
      link="right_wheel" />
    <axis
      xyz="0 0 1" />
  </joint>
  <link
    name="left_wheel">
    <inertial>
      <origin
        xyz="-1.08484865680283E-07 9.39589923257961E-07 -0.0412241882773907"
        rpy="0 0 0" />
      <mass
        value="0.990840698274938" />
      <inertia
        ixx="0.00172004676930286"
        ixy="-3.56183225835047E-10"
        ixz="7.396964905088E-10"
        iyy="0.001720039210495"
        iyz="2.2929941364905E-08"
        izz="0.00302659678891439" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://bini_description/meshes/left_wheel.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://bini_description/meshes/left_wheel.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_wheel_joint"
    type="continuous">
    <origin
      xyz="0 0.2709 -0.022"
      rpy="-1.5707963267949 0 0" />
    <parent
      link="base_link" />
    <child
      link="left_wheel" />
    <axis
      xyz="0 0 1" />
  </joint>
  <link
    name="front_wheel">
    <inertial>
      <origin
        xyz="-2.53516929671349E-11 -2.09946313886778E-12 -0 ...

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