Hi Jim,
I am writing a package that simulates a Traxxas E-Maxx RC truck in Gazebo. Since springs (for the shock absorbers) cannot be specified in a URDF dynamics block, I've created a node that reads the shock absorber joint positions (they are prismatic joints), uses Hooke's law to compute spring forces, then applies the forces to the springs. The node also simulates damping. No matter what damping coefficient I use, the truck continues to oscillate. Sometimes it appears that Gazebo's ground contact force simulation is kicking the wheels into the air, but that's just a hypothesis. I've attached a test package to this message, and I'd really appreciate it if someone could take a look at it. To execute the test, run "roslaunch test test.launch" in one window, then run "rosrun test test.py" in another. The oscillating truck should be displayed in a Gazebo window.
--
Jim Rothrock | Wunderkammer Laboratory
jim.rothrock@wunderkammerlab.com
_______________________________________________
ros-users mailing list
ros-users@code.ros.org
https://code.ros.org/mailman/listinfo/ros-users