Gazebo Robot Move Selfs

asked 2022-07-12 02:18:17 -0600

m_robot gravatar image

updated 2022-07-13 09:50:56 -0600

lucasw gravatar image

I maked r2000ic125l Gazebo robot

this robot start move self in gazebo and link1 link3 and link6 is can not move from rqt_jointtrajectory_controller (link2 link4 and link5 is works correctly)

image description

I believe the cause is friction and effort. Or is there another cause?

this is URDF Please Hepl me Thank you

<!-- Used for fixing robot to Gazebo 'base_link' -->
<link name="world"/>

<joint name="base_link_to_world_joint" type="fixed">
   <origin xyz="0 0 0" rpy="0 0 0"/>
   <parent link="world"/>
   <child link="${prefix}base_link"/>
</joint>

<!-- links: main serial chain -->
<link name="${prefix}base_link">
  <inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.388"/>
    <inertia ixx="0.1" ixy="0" ixz="0"
     iyy="0.1" iyz="0"
     izz="0.1"/>
  </inertial>
  <visual>
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <geometry>
      <mesh filename="package://r2000ic125l_description/meshes/r2000ic125l/visual/base_link.stl" />
    </geometry>
    <xacro:material_fanuc_gray40 />
  </visual>
  <collision>
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <geometry>
      <mesh filename="package://r2000ic125l_description/meshes/r2000ic125l/collision/base_link.stl" />
    </geometry>
  </collision>
</link>
<link name="${prefix}link_1">
  <inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.253"/>
    <inertia ixx="0.001" ixy="0" ixz="0"
     iyy="0.001" iyz="0"
     izz="0.001"/>
  </inertial>
  <visual>
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <geometry>
      <mesh filename="package://r2000ic125l_description/meshes/r2000ic125l/visual/link_1.stl" />
    </geometry>
    <xacro:material_fanuc_yellow />
  </visual>
  <collision>
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <geometry>
      <mesh filename="package://r2000ic125l_description/meshes/r2000ic125l/collision/link_1.stl" />
    </geometry>
  </collision>
</link>
<link name="${prefix}link_2">
  <inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.136"/>
    <inertia ixx="0.1" ixy="0" ixz="0"
     iyy="0.1" iyz="0"
     izz="0.1"/>
  </inertial>
  <visual>
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <geometry>
      <mesh filename="package://r2000ic125l_description/meshes/r2000ic125l/visual/link_2.stl" />
    </geometry>
    <xacro:material_fanuc_yellow />
  </visual>
  <collision>
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <geometry>
      <mesh filename="package://r2000ic125l_description/meshes/r2000ic125l/collision/link_2.stl" />
    </geometry>
  </collision>
</link>
<link name="${prefix}link_3">
  <inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.321"/>
    <inertia ixx="0.1" ixy="0" ixz="0"
     iyy="0.1" iyz="0"
     izz="0.1"/>
  </inertial>
  <visual>
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <geometry>
      <mesh filename="package://r2000ic125l_description/meshes/r2000ic125l/visual/link_3.stl" />
    </geometry>
    <xacro:material_fanuc_yellow />
  </visual>
  <collision>
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <geometry>
      <mesh filename="package://r2000ic125l_description/meshes/r2000ic125l/collision/link_3.stl" />
    </geometry>
  </collision>
</link>
<link name="${prefix}link_4">
  <inertial>
<origin rpy="0 0 0" xyz="0 0 0 ...
(more)
edit retag flag offensive close merge delete