[PlayerStage-Gazebo] Gazebo 0.9 Pioneer2dx unstable motion

[jm . vegap]

   Hi everyone,

   I'm having several problems when I launch gazebo with any world  
file, because the robot motion is not coherent. I mean, when I command  
velocity values just to go ahead, robot gets unbalance and after a few  
meters it falls over one side.

   I don't know if it's because of the pioneer2dx model or weights or  
physics or something like that... This is my world file:

<?xml version="1.0"?>

<gazebo:world
   xmlns:xi="http://www.w3.org/2001/XInclude";
   xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz";
   xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model";
   xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor";
   xmlns:window="http://playerstage.sourceforge.net/gazebo/xmlschema/#window";
   xmlns:param="http://playerstage.sourceforge.net/gazebo/xmlschema/#param";
   xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body";
   xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom";
   xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint";
    
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface";
   xmlns:ui="http://playerstage.sourceforge.net/gazebo/xmlschema/#ui";
    
xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering";
    
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller";
    
xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics";  
 >

   <verbosity>5</verbosity>

   <physics:ode>
     <stepTime>0.03</stepTime>
     <gravity>0 0 -9.8</gravity>
     <cfm>10e-5</cfm>
     <erp>0.3</erp>
     <updateRate>33.3333</updateRate>
   </physics:ode>

   <rendering:gui>
     <type>fltk</type>
     <size>800 600</size>
     <updateRate>20</updateRate>
     <pos>0 0</pos>

     <frames>
       <row height="100%">
         <camera width="100%">
           <xyz>0.35 -0.5 0.43</xyz>
           <rpy>0 14 111.5</rpy>
         </camera>
       </row>
     </frames>
   </rendering:gui>

   <rendering:ogre>
     <ambient>0.5 0.5 0.5 1.0</ambient>
     <sky>
       <material>Gazebo/CloudySky</material>
     </sky>
   </rendering:ogre>

    <!-- Ground Plane -->
   <model:physical name="plane1_model">
     <xyz>0 0 0</xyz>
     <rpy>0 0 0</rpy>
     <static>true</static>

     <body:plane name="plane1_body">
       <geom:plane name="plane1_geom">
         <normal>0 0 1</normal>
         <size>2000 2000</size>
         <segments>10 10</segments>
         <uvTile>100 100</uvTile>
         <material>Gazebo/Grey</material>
       </geom:plane>
     </body:plane>
   </model:physical>

   <model:physical name="cylinder1_model">
     <xyz>1 -1.5 0.5</xyz>
     <rpy>0.0 0.0 0.0</rpy>

     <body:cylinder name="cylinder1_body">
       <geom:cylinder name="cylinder1_geom">
         <size>0.5 1</size>
         <mass>1.0</mass>
         <visual>
           <mesh>unit_cylinder</mesh>
           <material>Gazebo/RustyBarrel</material>
         </visual>
       </geom:cylinder>
     </body:cylinder>
   </model:physical>

   <model:physical name="pioneer2dx_model1">
     <xyz>0 0 0.145</xyz>
     <rpy>0.0 0.0 0.0</rpy>
     <collide>all</collide>

     <model:physical name="laser">
       <xyz>0.15 0 0.18</xyz>

       <attach>
         <parentBody>chassis_body</parentBody>
         <myBody>laser_body</myBody>
       </attach>

       <include embedded="true">
         <xi:include href="models/sicklms200.model" />
       </include>
     </model:physical>
<!--
     <model:physical name="sonyvid30_model">
       <xyz>0.15 0 0.28</xyz>

       <attach>
         <parentBody>chassis_body</parentBody>
         <myBody>sonyvid30_body</myBody>
       </attach>

       <include embedded="true">
         <xi:include href="models/sonyvid30.model" />
       </include>
     </model:physical>
-->
     <!--
     The include should be last within a model. All previous statements
     will override those in the included file
     -->
     <include embedded="true">
       <xi:include href="models/pioneer2dx.model" />
     </include>
   </model:physical>

   <!-- White Directional light -->
   <model:renderable name="directional_white">
     <xyz>2.0 0 2.0</xyz>
     <enableGravity>false</enableGravity>

     <light>
       <type>spot</type>
       <spotCone>1000 1000 100</spotCone>
       <direction>-0.1 0 -0.9</direction>
       <diffuseColor>0.8 0.8 0.8</diffuseColor>
       <specularColor>0.1 0.1 0.1</specularColor>
       <range>10</range>

       <!-- Constant(0-1) Linear(0-1) Quadratic -->
       <attenuation>1.0 0.0 0</attenuation>
     </light>
   </model:renderable>

</gazebo:world>

   Thanks in advance,

   Julio

------------------------------------------------------------------------------
Free Software Download: Index, Search & Analyze Logs and other IT data in 
Real-Time with Splunk. Collect, index and harness all the fast moving IT data 
generated by your applications, servers and devices whether physical, virtual
or in the cloud. Deliver compliance at lower cost and gain new business 
insights. http://p.sf.net/sfu/splunk-dev2dev 
_______________________________________________
Playerstage-gazebo mailing list
Playerstage-gazebo@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo