fetch_gazebo: add casters to fetch.gazebo.xacro #49
Conversation
This adds 4 casters to the gazebo model, and updates the physics params. This should fix ZebraDevs#31. This is related to ZebraDevs#37
| <visual> | ||
| <origin rpy="0 0 0" xyz="0 0 0"/> | ||
| <geometry> | ||
| <sphere radius="0.0601"/> <!-- 0.06033 --> |
There was a problem hiding this comment.
The value in comments, 0.06033 is the actual value of the wheel, but I've made the caster slightly smaller.
When the values were all the same as the wheel, the wheels did not have enough contact with the ground.
|
@narora1 & @fetchrobotics/opensource I've setup the repo so that pull requests now need to be approved. Before: https://youtu.be/FyyGwdU6qRE |
There was a problem hiding this comment.
Form my point of view , the base moves much smoother. Adding casters was something absolutely vital, specially in robots with two wheel movement. The old way of using the base collision element as caster wheels is unacceptable now a days. I aprove this changes for sure ;).
|
@moriarty @RDaneelOlivav Do we plan to backport this to Gazebo 7? I know that Kinetic is not officially supported but we do actually publish the gazebo 7 version of the simulation... |
|
I thought I back-ported everything that needed back porting... @umhan35 I'll be on vacation until next week, next week I'll double check all the open source issues and see if this change is needed. |
|
@moriarty Thanks. I double checked the last change to This is a low prority though. It just happens that our interns are using kinetic... |
This adds 4 casters to the gazebo model, and updates the physics params.
This should fix #31 or at least make it better. It should also fix #35. This is related to #37.
I launched this twice and it grasped the cube both times, so it's much better than it was.
But the values still need further tuning for navigation, and e.g. #30