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Drift solution #1

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6f25bba
changed Amiro correct Motor Torque
Jul 3, 2019
106c7c2
Fix Drift, when robot is not moving
Jul 3, 2019
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3 changes: 2 additions & 1 deletion amiro_description/urdf/amiro.gazebo
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Expand Up @@ -28,7 +28,8 @@
<wheelSeparation>${wheel_sep}</wheelSeparation> <!-- Meter -->
<wheelDiameter>${wheel_dia}</wheelDiameter> <!-- Meter -->
<wheelAcceleration>0.0</wheelAcceleration> <!-- rad/s^2 -->
<wheelTorque>5.0</wheelTorque> <!-- Newton -->
<wheelTorque>50.0</wheelTorque> <!-- Newton - For Faulhaber Serie 2619 (1:22 gear reduction) with short time duty torque (stdq) = 75mNm,
shaft diameter (sd) = 3mm and 2 motors -> stdq/sd * 2 = 50N -->
<updateRate>${update_rate}</updateRate>
<odometrySource>world</odometrySource> <!-- Use "encoder" or "world" as source -->

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14 changes: 14 additions & 0 deletions amiro_gazebo/worlds/amiro.world
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Expand Up @@ -20,5 +20,19 @@
</camera>
</gui>

<physics name="ode_1000iters" type="ode" default="true">
<default>true</default>
<max_step_size>0.001</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>1000</real_time_update_rate>
<ode>
<solver>
<type>quick</type>
<!-- Fix Drift, when robot is not moving -->
<iters>1000</iters>
</solver>
</ode>
</physics>

</world>
</sdf>
15 changes: 14 additions & 1 deletion amiro_gazebo/worlds/assembly_line.world
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Expand Up @@ -21,10 +21,23 @@
<gravity>0 0 -9.8</gravity>
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
<atmosphere type='adiabatic'/>
<physics name='default_physics' default='0' type='ode'>
<!-- <physics name='default_physics' default='0' type='ode'>
<max_step_size>0.001</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>1000</real_time_update_rate>
</physics> -->
<physics name="ode_1000iters" type="ode" default="true">
<default>true</default>
<max_step_size>0.001</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>1000</real_time_update_rate>
<ode>
<solver>
<type>quick</type>
<!-- Fix Drift, when robot is not moving -->
<iters>1000</iters>
</solver>
</ode>
</physics>
<scene>
<ambient>0.4 0.4 0.4 1</ambient>
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15 changes: 14 additions & 1 deletion amiro_gazebo/worlds/assembly_line_project.world
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Expand Up @@ -21,10 +21,23 @@
<gravity>0 0 -9.8</gravity>
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
<atmosphere type='adiabatic'/>
<physics name='default_physics' default='0' type='ode'>
<!-- <physics name='default_physics' default='0' type='ode'>
<max_step_size>0.001</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>1000</real_time_update_rate>
</physics> -->
<physics name="ode_1000iters" type="ode" default="true">
<default>true</default>
<max_step_size>0.001</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>1000</real_time_update_rate>
<ode>
<solver>
<type>quick</type>
<!-- Fix Drift, when robot is not moving -->
<iters>1000</iters>
</solver>
</ode>
</physics>
<scene>
<ambient>0.4 0.4 0.4 1</ambient>
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15 changes: 14 additions & 1 deletion amiro_gazebo/worlds/desk.world
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Expand Up @@ -64,10 +64,23 @@
<gravity>0 0 -9.8</gravity>
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
<atmosphere type='adiabatic'/>
<physics name='default_physics' default='0' type='ode'>
<!-- <physics name='default_physics' default='0' type='ode'>
<max_step_size>0.001</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>100</real_time_update_rate>
</physics> -->
<physics name="ode_1000iters" type="ode" default="true">
<default>true</default>
<max_step_size>0.001</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>100</real_time_update_rate>
<ode>
<solver>
<type>quick</type>
<!-- Fix Drift, when robot is not moving -->
<iters>1000</iters>
</solver>
</ode>
</physics>
<scene>
<ambient>0.4 0.4 0.4 1</ambient>
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9 changes: 5 additions & 4 deletions amiro_gazebo/worlds/empty_slow.world
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Expand Up @@ -10,26 +10,27 @@
<uri>model://ground_plane</uri>
</include>

<physics name="ode_70iters" type="ode">
<!-- <physics name="ode_70iters" type="ode">
<real_time_update_rate>1500</real_time_update_rate>
<ode>
<solver>
<type>quick</type>
<iters>70</iters>
</solver>
</ode>
</physics>
</physics> -->

<physics name="ode_200iters" type="ode" default="true">
<physics name="ode_1000iters" type="ode" default="true">
<default>true</default>
<real_time_update_rate>100</real_time_update_rate>
<ode>
<solver>
<type>quick</type>
<iters>200</iters>
<iters>1000</iters>
</solver>
</ode>
</physics>


</world>
</sdf>
15 changes: 14 additions & 1 deletion amiro_gazebo/worlds/watchmen_route_project.world
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Expand Up @@ -21,10 +21,23 @@
<gravity>0 0 -9.8</gravity>
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
<atmosphere type='adiabatic'/>
<physics name='default_physics' default='0' type='ode'>
<!-- <physics name='default_physics' default='0' type='ode'>
<max_step_size>0.001</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>1000</real_time_update_rate>
</physics> -->
<physics name="ode_1000iters" type="ode" default="true">
<default>true</default>
<max_step_size>0.001</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>1000</real_time_update_rate>
<ode>
<solver>
<type>quick</type>
<!-- Fix Drift, when robot is not moving -->
<iters>1000</iters>
</solver>
</ode>
</physics>
<scene>
<ambient>0.4 0.4 0.4 1</ambient>
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