CODEWITHSUNDEEP
rosgazebo-simu
Andrea Ross
Andrea Ross

Reputation: 11

ROS and Gazebo: model problems when loading joint controllers

I'm trying to control a gazebo robot using ros control but I have some problems after I load the controllers. This is the robot model before I load the joint controllers, the model is correct. When I load the joint controllers I get this result, the controller.launch it's not showing errors.

Why the model implodes on the origin?

Upvotes: 1

Views: 828

Answers (1)

chapulina
chapulina

Reputation: 66

Why the model implodes on the origin?

Most likely your SDF file is malformed. Some debugging tips:

  • Inspect collisions, joints, CoM and inertia with Gazebo's GUI and see if anything looks out of place. Look out for badly place joints, overlapping collisions, extremely small / large inertias...
  • Start simulation paused and step through it slowly to see if you can find out when it starts collapsing. Do this with contact visualization turned on.
  • Run Gazebo in verbose mode to see if you get any useful error messages.

Upvotes: 1

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