I mean that if I write a position to the quadrotor, if it has only a payload it goes to this position and it stay there. If It has a camera with the same weight it start to swing around this point, always stronger and so it doesn't stay there. I use a PD controller. I've also tried to tune the PD's parameters but I think that it can be a problem about an incorrect use of attach (but I'm not so sure about that because also the payload model use this function) or about the camera but I don't see any problem in my code.... Thanks for any reply....
Nate Koenig wrote: > > 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. >>> >>> >>> >>> ------------------------------------------------------------------------------ >>> The Planet: dedicated and managed hosting, cloud storage, colocation >>> Stay online with enterprise data centers and the best network in the >>> business >>> Choose flexible plans and management services without long-term >>> contracts >>> Personal 24x7 support from experience hosting pros just a phone call >>> away. >>> http://p.sf.net/sfu/theplanet-com >>> _______________________________________________ >>> Playerstage-gazebo mailing list >>> [email protected] >>> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo >>> >> ------------------------------------------------------------------------------ >> The Planet: dedicated and managed hosting, cloud storage, colocation >> Stay online with enterprise data centers and the best network in the >> business >> Choose flexible plans and management services without long-term contracts >> Personal 24x7 support from experience hosting pros just a phone call >> away. >> http://p.sf.net/sfu/theplanet-com >> _______________________________________________ >> Playerstage-gazebo mailing list >> [email protected] >> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo >> > > ------------------------------------------------------------------------------ > The Planet: dedicated and managed hosting, cloud storage, colocation > Stay online with enterprise data centers and the best network in the > business > Choose flexible plans and management services without long-term contracts > Personal 24x7 support from experience hosting pros just a phone call away. > http://p.sf.net/sfu/theplanet-com > _______________________________________________ > Playerstage-gazebo mailing list > [email protected] > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > > -- View this message in context: http://old.nabble.com/Instability-problem-tp27320617p27335631.html Sent from the playerstage-gazebo mailing list archive at Nabble.com. ------------------------------------------------------------------------------ The Planet: dedicated and managed hosting, cloud storage, colocation Stay online with enterprise data centers and the best network in the business Choose flexible plans and management services without long-term contracts Personal 24x7 support from experience hosting pros just a phone call away. http://p.sf.net/sfu/theplanet-com _______________________________________________ Playerstage-gazebo mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
