Problem in using the model in Gazebo
vatsalkshah opened this issue · 7 comments
The model falls from the sky when I spawn it and then bounces back and the breaks.
How should I fix this?
As mentioned, I have changed the values of masses and inertia of fake links to 0.0001 and 0.1 respectively. Should I change it to something else?
Also, what is the purpose of fake links?
@vatsalkshah I believe that the initial spawning position is not correct.
Start gazebo in pause mode by using the argument -u e.g. gazebo -u and then check the initial position of the model. Alternatively, press space bar to pause gazebo and reset gazebo. This will show where the initial position of the model is.
what is the purpose of fake links?
The purpose of the fake links are to create a spherical joint by combining 3 rotational joints together through the fake links.
@Yeshasvitvs Still the problem persists. the model is spawning in the sky.
This is the repo where I have saved the edited file ( https://github.com/vatsalkshah/Edinburgh_summer/blob/master/human_urdf/urdf/human1.urdf ). Do I need to make any changes to it or the launch file?
@vatsalkshah please post a gif or a video link showing the behaviour
@Yeshasvitvs
This is the video of the problem
@vatsalkshah add -u in the args on line https://github.com/vatsalkshah/Edinburgh_summer/blob/master/human_urdf/launch/human.launch#L5
Moreover, note that the urdf doesn't have any control boards. This is the reason the model is exploding when you are trying to launch it with gazebo_ros package.
Thanks a lot. I'll implement the controller.