Hello,
What do you mean by "stabilize the quadrotor"?
I modified your world file:
...
<physics:ode>
<stepTime>0.001</stepTime>
<gravity>0 0 -9.8</gravity>
<cfm>0.0000000001</cfm>
<erp>0.2</erp>
<quickStep>true</quickStep>
<quickStepIters>10</quickStepIters>
<quickStepW>1.3</quickStepW>
<contactMaxCorrectingVel>100.0</contactMaxCorrectingVel>
<contactSurfaceLayer>0.001</contactSurfaceLayer>
</physics:ode>
...
And your model appears just fine.
-nate
On Tue, Jan 26, 2010 at 9:55 AM, John Hsu <[email protected]> wrote:
> Hi Neostek,
>
> One of the problem I can see might be the usage of <attach>. Though I
> havent' tried recently, <attach>ing bodies together lead to unstable
> behaviors. Try connecting bodies together using hinge joints with hiStop
> and loStop of 0 as fixed joints.
>
> John
>
> On Tue, Jan 26, 2010 at 2:32 AM, Neostek <[email protected]> wrote:
>
>>
>> Hi all,
>> I have a problem with my quadrotor, simulated in Gazebo.
>> If I placed under my quadrotor a static payload (a box), I succeed to
>> stabilize the quadrotor and the payload on a fixed position.
>> if I substituted the payload with three bodies (i.e. the sonyvid30 camera)
>> that have the same weight of the payload, I didn't succeed to stabilize
>> them.
>> I think that it is a problem caused by:
>> 1) the bodies interaction of the camera (too force between them)
>> 2) a my incorrect call of the "include"
>>
>> Please help me, there are 15 days that I try to solve this problem and I
>> don't know neither its reason.
>> Attached, there are my world (quadrotor.world),
>> http://old.nabble.com/file/p27320617/quadrotor.world quadrotor.world , the
>> camera model (quadrotor_camera2.model)
>> http://old.nabble.com/file/p27320617/quadrotor_camera2.model
>> quadrotor_camera2.model , the quadrotor model (quadrotor.model)
>> http://old.nabble.com/file/p27320617/quadrotor.model quadrotor.model and
>> the cfg file (quadrotor.cfg)
>> http://old.nabble.com/file/p27320617/quadrotor.cfg quadrotor.cfg
>>
>> --
>> View this message in context:
>> http://old.nabble.com/Instability-problem-tp27320617p27320617.html
>> Sent from the playerstage-gazebo mailing list archive at Nabble.com.
>>
>>
>>
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