Hi Ricarda,
Very interesting problem indeed. What you're seeing is a typical numerical instability of the current constraint solver. The redundant contacts of the cylinder/box with the ground has made the system stiff enough that your solution gitters/fails to converge. This is something I am actively looking into stabilizing at the moment. There are a few ways to fix this problem for now:
Hi,
thanks for your answer, John.
Unfortunately, the robot is not actuated, yet. I am still having problems
to even spawn the model without explosions or dancing.
Maybe I am just misunderstanding some attributes.
I am breaking down the model into pieces nearly all of the time I spend
with it. It seems that there is a problem with the wheels/base.
Moreover, the arms produce some tremor, too.
I checked all of the masses, moi's and possible collisions by means of the
bounding boxes.
I only use fixed joints in order to avoid problems with joint limits etc.
The source code for the base is attached.
I already tried to use boxes instead of cylinders but it did not help.
Furthermore, I did some trial-and-error value changes.
Thanks,
Ricarda
_______________________________________________
ros-users mailing list
ros-users@code.ros.org
https://code.ros.org/mailman/listinfo/ros-users