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Commit 0adcd4d6 authored by Sergi Hernandez's avatar Sergi Hernandez
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Improved the dynamic model of the car. Still not good enough.

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config/model_car.rviz
+ 10
− 9
View file @ 0adcd4d6
...@@ -5,6 +5,7 @@ Panels: ...@@ -5,6 +5,7 @@ Panels:
Property Tree Widget: Property Tree Widget:
Expanded: Expanded:
- /Global Options1 - /Global Options1
- /RobotModel1
Splitter Ratio: 0.625 Splitter Ratio: 0.625
Tree Height: 841 Tree Height: 841
- Class: rviz/Selection - Class: rviz/Selection
...@@ -63,7 +64,7 @@ Visualization Manager: ...@@ -63,7 +64,7 @@ Visualization Manager:
{} {}
Update Interval: 0 Update Interval: 0
Value: false Value: false
- Alpha: 0.899999976 - Alpha: 1
Class: rviz/RobotModel Class: rviz/RobotModel
Collision Enabled: false Collision Enabled: false
Enabled: true Enabled: true
...@@ -511,9 +512,9 @@ Visualization Manager: ...@@ -511,9 +512,9 @@ Visualization Manager:
Enabled: true Enabled: true
Invert Rainbow: false Invert Rainbow: false
Max Color: 255; 255; 255 Max Color: 255; 255; 255
Max Intensity: 8.40779079e-45 Max Intensity: 999999
Min Color: 0; 0; 0 Min Color: 0; 0; 0
Min Intensity: 1.40129846e-45 Min Intensity: 8.40779079e-45
Name: RP_Lidar Name: RP_Lidar
Position Transformer: XYZ Position Transformer: XYZ
Queue Size: 10 Queue Size: 10
...@@ -553,25 +554,25 @@ Visualization Manager: ...@@ -553,25 +554,25 @@ Visualization Manager:
Views: Views:
Current: Current:
Class: rviz/Orbit Class: rviz/Orbit
Distance: 6.36128855 Distance: 1.55903006
Enable Stereo Rendering: Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987 Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1 Stereo Focal Distance: 1
Swap Stereo Eyes: false Swap Stereo Eyes: false
Value: false Value: false
Focal Point: Focal Point:
X: 0.408853233 X: 0.744714677
Y: -0.595593214 Y: -0.03747968
Z: -0.697179675 Z: 0.0418403521
Focal Shape Fixed Size: false Focal Shape Fixed Size: false
Focal Shape Size: 0.0500000007 Focal Shape Size: 0.0500000007
Invert Z Axis: false Invert Z Axis: false
Name: Current View Name: Current View
Near Clip Distance: 0.00999999978 Near Clip Distance: 0.00999999978
Pitch: 0.714797616 Pitch: 0.224798039
Target Frame: base_link Target Frame: base_link
Value: Orbit (rviz) Value: Orbit (rviz)
Yaw: 3.99539614 Yaw: 3.58039188
Saved: ~ Saved: ~
Window Geometry: Window Geometry:
Displays: Displays:
......
urdf/include/platform.gazebo
+ 15
− 10
View file @ 0adcd4d6
...@@ -7,32 +7,36 @@ ...@@ -7,32 +7,36 @@
<gazebo reference="body"> <gazebo reference="body">
<material>Gazebo/Grey</material> <material>Gazebo/Grey</material>
<gravity>true</gravity> <gravity>true</gravity>
<self_collide>false</self_collide> <selfCollide>true</selfCollide>
<dampingFactor>0.0002</dampingFactor> <!-- <dampingFactor>0.0002</dampingFactor> -->
<mu1>0.300000</mu1> <!-- <mu1>0.300000</mu1> -->
<mu2>1.000000</mu2> <!-- <mu2>1.000000</mu2> -->
<!-- <kp>50000000.0</kp>--> <!-- <kp>50000000.0</kp> -->
<!-- <kd>1.0</kd>--> <!-- <kd>1.0</kd> -->
</gazebo> </gazebo>
<gazebo reference="steer_left"> <gazebo reference="steer_left">
<material>Gazebo/Black</material> <material>Gazebo/Black</material>
<gravity>true</gravity>
<dampingFactor>0.2</dampingFactor>
</gazebo> </gazebo>
<gazebo reference="steer_right"> <gazebo reference="steer_right">
<material>Gazebo/Black</material> <material>Gazebo/Black</material>
<gravity>true</gravity>
<dampingFactor>0.2</dampingFactor>
</gazebo> </gazebo>
<gazebo reference="base_link_2_steer_left_joint"> <gazebo reference="base_link_2_steer_left_joint">
<implicitSpringDamper>true</implicitSpringDamper> <implicitSpringDamper>true</implicitSpringDamper>
<stopCfm>0.0</stopCfm> <!-- <stopCfm>0.0</stopCfm> -->
<stopErp>0.0</stopErp> <!-- <stopErp>0.0</stopErp> -->
</gazebo> </gazebo>
<gazebo reference="base_link_2_steer_right_joint"> <gazebo reference="base_link_2_steer_right_joint">
<implicitSpringDamper>true</implicitSpringDamper> <implicitSpringDamper>true</implicitSpringDamper>
<stopCfm>0.0</stopCfm> <!-- <stopCfm>0.0</stopCfm> -->
<stopErp>0.0</stopErp> <!-- <stopErp>0.0</stopErp> -->
</gazebo> </gazebo>
<gazebo> <gazebo>
...@@ -40,6 +44,7 @@ ...@@ -40,6 +44,7 @@
<robotNamespace>/model_car</robotNamespace> <robotNamespace>/model_car</robotNamespace>
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType> <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
<legacyModeNS>true</legacyModeNS> <legacyModeNS>true</legacyModeNS>
<controlPeriod>0.02</controlPeriod>
</plugin> </plugin>
</gazebo> </gazebo>
......
urdf/include/platform.xacro
+ 14
− 14
View file @ 0adcd4d6
...@@ -60,11 +60,11 @@ ...@@ -60,11 +60,11 @@
<link name="steer_left"> <link name="steer_left">
<inertial> <inertial>
<mass value="0.001" /> <mass value="0.25918139" />
<origin xyz="0.0 0.0 0.0" /> <origin xyz="0.00000000 0.00000000 0.00000000" rpy="0 0 0"/>
<inertia ixx="0.00000001" ixy="0.00000000" ixz="0.0" <inertia ixx="0.00018551" ixy="0.00000000" ixz="0.00000000"
iyy="0.00000001" iyz="0.00000000" iyy="0.00018551" iyz="0.00000000"
izz="0.00000001" /> izz="0.00032398" />
</inertial> </inertial>
</link> </link>
...@@ -74,8 +74,8 @@ ...@@ -74,8 +74,8 @@
<anchor xyz="0 0 0" /> <anchor xyz="0 0 0" />
<parent link="base_link" /> <parent link="base_link" />
<child link="steer_left" /> <child link="steer_left" />
<limit lower="-${angle_limit}" upper="${angle_limit}" effort="1" velocity="1"/> <limit lower="-${angle_limit}" upper="${angle_limit}" effort="0.7" velocity="10.0"/>
<dynamics damping="0.2"/> <dynamics damping="0.7"/>
</joint> </joint>
<transmission name="tran_steer_left"> <transmission name="tran_steer_left">
...@@ -96,11 +96,11 @@ ...@@ -96,11 +96,11 @@
<link name="steer_right"> <link name="steer_right">
<inertial> <inertial>
<mass value="0.001" /> <mass value="0.25918139" />
<origin xyz="0.0 0.0 0.0" /> <origin xyz="0.00000000 0.00000000 0.00000000" rpy="0 0 0"/>
<inertia ixx="0.00000001" ixy="0.00000000" ixz="0.0" <inertia ixx="0.00018551" ixy="0.00000000" ixz="0.00000000"
iyy="0.00000001" iyz="0.00000000" iyy="0.00018551" iyz="0.00000000"
izz="0.00000001" /> izz="0.00032398" />
</inertial> </inertial>
</link> </link>
...@@ -110,8 +110,8 @@ ...@@ -110,8 +110,8 @@
<anchor xyz="0 0 0" /> <anchor xyz="0 0 0" />
<parent link="base_link" /> <parent link="base_link" />
<child link="steer_right" /> <child link="steer_right" />
<limit lower="-${angle_limit}" upper="${angle_limit}" effort="9.6" velocity="5.3"/> <limit lower="-${angle_limit}" upper="${angle_limit}" effort="0.7" velocity="10.0"/>
<dynamics damping="0.2"/> <dynamics damping="0.7"/>
</joint> </joint>
<transmission name="tran_steer_right"> <transmission name="tran_steer_right">
......
urdf/include/wheel.gazebo
+ 9
− 9
View file @ 0adcd4d6
...@@ -4,20 +4,20 @@ ...@@ -4,20 +4,20 @@
<xacro:macro name="wheel_gazebo" params=" name"> <xacro:macro name="wheel_gazebo" params=" name">
<gazebo reference="${name}_wheel"> <gazebo reference="${name}_wheel">
<gravity>true</gravity>
<self_collide>false</self_collide>
<material>Gazebo/Black</material> <material>Gazebo/Black</material>
<dampingFactor>0.0002</dampingFactor> <maxContacts>2</maxContacts>
<mu1>0.300000</mu1> <gravity>true</gravity>
<mu2>1.000000</mu2> <selfCollide>true</selfCollide>
<!-- <kp>50000000.0</kp>--> <mu1>100.000000</mu1>
<!-- <kd>1.0</kd>--> <mu2>50.000000</mu2>
<kp>1e15</kp>
<kd>1e13</kd>
</gazebo> </gazebo>
<gazebo reference="${parent}_2_${name}_wheel_joint"> <gazebo reference="${parent}_2_${name}_wheel_joint">
<implicitSpringDamper>true</implicitSpringDamper> <implicitSpringDamper>true</implicitSpringDamper>
<stopCfm>0.0</stopCfm> <!-- <stopCfm>0.0</stopCfm> -->
<stopErp>0.0</stopErp> <!-- <stopErp>0.0</stopErp> -->
</gazebo> </gazebo>
</xacro:macro> </xacro:macro>
</root> </root>
......
urdf/include/wheel.xacro
+ 3
− 2
View file @ 0adcd4d6
...@@ -30,12 +30,13 @@ ...@@ -30,12 +30,13 @@
</collision> </collision>
</link> </link>
<joint name="${parent}_2_${name}_wheel_joint" type="continuous"> <joint name="${parent}_2_${name}_wheel_joint" type="revolute">
<xacro:insert_block name="origin" /> <xacro:insert_block name="origin" />
<parent link="${parent}"/> <parent link="${parent}"/>
<child link="${name}_wheel"/> <child link="${name}_wheel"/>
<axis xyz="0 0 ${direction}"/> <axis xyz="0 0 ${direction}"/>
<limit effort="5" velocity="1.0"/> <limit effort="0.1" velocity="20.0" upper="1e16" lower="-1e16"/>
<!-- the limits only apply to revolute and prismatic joints -->
</joint> </joint>
<transmission name="${name}_tran"> <transmission name="${name}_tran">
......
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