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fixed friction issue

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This commit is contained in:
Ruixiang Du
2020-04-01 21:59:58 +08:00
parent d221d37dea
commit a1efd5b609
6 changed files with 32 additions and 34 deletions
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1
scout_description/launch/scout_v2_stock.launch
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@@ -4,7 +4,6 @@
<arg name="urdf_extras" default="$(find scout_description)/urdf/empty.urdf"/> <arg name="urdf_extras" default="$(find scout_description)/urdf/empty.urdf"/>
<param name="robot_description" command="$(find xacro)/xacro '$(find scout_description)/urdf/scout_v2.xacro' <param name="robot_description" command="$(find xacro)/xacro '$(find scout_description)/urdf/scout_v2.xacro'
--inorder
robot_namespace:=$(arg robot_namespace) robot_namespace:=$(arg robot_namespace)
urdf_extras:=$(arg urdf_extras)" /> urdf_extras:=$(arg urdf_extras)" />
</launch> </launch>

18
scout_description/urdf/scout_v2.gazebo
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@@ -1,4 +1,11 @@
<?xml version="1.0"?> <?xml version="1.0"?>
Reference:
[1] https://answers.ros.org/question/246914/four-wheeled-skid-steering-in-gazebo-and-ros-using-gazebo-ros-control/
[2] https://answers.ros.org/question/10119/gazebo-controller-for-skid-steering/
[3] https://answers.ros.org/question/9640/rotation-error-in-gazebo-simulation/
[4] https://www.youtube.com/watch?v=fuRAv6PDwdw
<robot xmlns:xacro="http://ros.org/wiki/xacro"> <robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(find scout_description)/urdf/scout_wheel.gazebo" /> <xacro:include filename="$(find scout_description)/urdf/scout_wheel.gazebo" />
@@ -20,6 +27,17 @@
</plugin> </plugin>
</gazebo> </gazebo>
<!-- kp spring constant, kd damping constant -->
<gazebo>
<mu1 value="1.0"/>
<mu2 value="0.9"/>
<kp value="10000000.0" />
<kd value="1.0" />
<fdir1 value="1 0 0"/>
<minDepth value="0.001" />
<maxContacts value="64"/>
</gazebo>
<!-- <gazebo> <!-- <gazebo>
<plugin name="skid_steer_drive_controller" filename="libgazebo_ros_skid_steer_drive.so"> <plugin name="skid_steer_drive_controller" filename="libgazebo_ros_skid_steer_drive.so">
<updateRate>100.0</updateRate> <updateRate>100.0</updateRate>

16
scout_description/urdf/scout_v2.xacro
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@@ -32,6 +32,14 @@
<child link="base_link" /> <child link="base_link" />
</joint> </joint>
<!-- For testing, hang the robot up in the air -->
<!-- <link name="world" />
<joint name="world_to_base_link=" type="fixed">
<origin xyz="0 0 0.5" rpy="0 0 0" />
<parent link="world"/>
<child link="base_link"/>
</joint> -->
<!-- Base link --> <!-- Base link -->
<link name="base_link"> <link name="base_link">
<visual> <visual>
@@ -87,14 +95,6 @@
<origin xyz="${-wheelbase/2} ${-track/2} ${wheel_vertical_offset}" rpy="3.14 0 0" /> <origin xyz="${-wheelbase/2} ${-track/2} ${wheel_vertical_offset}" rpy="3.14 0 0" />
</xacro:scout_wheel_type2> </xacro:scout_wheel_type2>
<!-- For testing, hang the robot up in the air -->
<!-- <link name="world" />
<joint name="world_to_base_link=" type="fixed">
<origin xyz="0 0 0.5" rpy="0 0 0" />
<parent link="world"/>
<child link="base_link"/>
</joint> -->
<!-- Additional definitions --> <!-- Additional definitions -->
<xacro:include filename="$(arg urdf_extras)" /> <xacro:include filename="$(arg urdf_extras)" />

11
scout_description/urdf/scout_wheel.gazebo
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@@ -28,17 +28,6 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="scout_wheel"> <robot xmlns:xacro="http://ros.org/wiki/xacro" name="scout_wheel">
<xacro:macro name="scout_wheel_transmission" params="wheel_prefix"> <xacro:macro name="scout_wheel_transmission" params="wheel_prefix">
<!-- kp spring constant, kd damping constant -->
<gazebo reference="${wheel_prefix}_wheel_link">
<mu1 value="1.0"/>
<mu2 value="0.9"/>
<kp value="10000000.0" />
<kd value="1.0" />
<fdir1 value="1 0 0"/>
<minDepth value="0.001" />
<maxContacts value="64"/>
</gazebo>
<transmission name="${wheel_prefix}_wheel_trans" type="SimpleTransmission"> <transmission name="${wheel_prefix}_wheel_trans" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
<actuator name="${wheel_prefix}_wheel_motor"> <actuator name="${wheel_prefix}_wheel_motor">

1
scout_gazebo_sim/launch/scout_playpen.launch
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@@ -29,7 +29,6 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
<arg name="world_name" default="$(find scout_gazebo_sim)/worlds/clearpath_playpen.world"/> <arg name="world_name" default="$(find scout_gazebo_sim)/worlds/clearpath_playpen.world"/>
<include file="$(find gazebo_ros)/launch/empty_world.launch"> <include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="physics" value="bullet" />
<arg name="world_name" value="$(arg world_name)"/> <arg name="world_name" value="$(arg world_name)"/>
<arg name="paused" value="false"/> <arg name="paused" value="false"/>
<arg name="use_sim_time" value="true"/> <arg name="use_sim_time" value="true"/>

17
scout_gazebo_sim/worlds/weston_robot_empty.world
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@@ -12,18 +12,11 @@
</include> </include>
<!-- Physics --> <!-- Physics -->
<!-- <physics type="ode"> <physics type='ode'>
<ode> <max_step_size>0.01</max_step_size>
<solver> <real_time_factor>1</real_time_factor>
<type>world</type> <real_time_update_rate>100</real_time_update_rate>
</solver> <gravity>0 0 -9.8</gravity>
<constraints>
<contact_max_correcting_vel>0.1</contact_max_correcting_vel>
<contact_surface_layer>0.0001</contact_surface_layer>
</constraints>
</ode>
<max_step_size>0.001</max_step_size>
</physics> </physics>
<gravity>0.0 0.0 -9.81</gravity> -->
</world> </world>
</sdf> </sdf>