Parts are rotating with no input
Hello, a team and I are attempting to build a 3-wheel holonomic drive robot in a small form factor and we are having trouble implementing our design in Gazebo. I followed a YT tutorial to convert our design in solidworks to a URDF and it seems to work fine, but once in Gazebo, the rims and rollers both rotate arbitrarily with no input. I've attached a video showing this. Does anyone know why this happens and how to make it stop?
Another thing we noticed is that the inertia values for both the rims and rollers all seem to be substantially lower than they should be (like 1000x+ off). Is this common? How could we fix this too without doing all the calculations manually and overriding them?
EDIT: I don't have 5 karma so I can't upload any files but would still appreciate any possible insight.
I upvoted your question, it gave you +10 karma, please add your file. My first thought is a gravity force on the robot. What plugins do you use in the robot model?
I've tried linking the video like 10x and compressing it and cutting it to be smaller but it still won't upload. Any idea why this is happening or is it just because my account is so new? Here is a link to it to watch online: https://clipchamp.com/watch/4irvim73rKY
In Gazebo, we are in an empty world and only using ros2_control plugin.
I never tried to upload a video here, I only saw links to a YouTube or Vimeo etc. Maybe you could add a few screens instead? For people checking this answer on the phone etc. Maybe someone could tell more about it.
I linked the vid in the comment above (Clipchamp) so you can see it rotating.
1000x off sounds like a units mismatch. Check the units in the SW URDF exporter and in your SW file.