Hi all, firtst of all, thanks a lot for your help. I tried to modify as you show me my file.world and I obtain:
<?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> <updateRate>-1</updateRate> <stepTime>0.03</stepTime> <gravity>0 0 -9.8</gravity> <cfm>10e-5</cfm> <erp>0.8</erp> </physics:ode> --> <physics:ode> <stepTime>0.001</stepTime> <updateRate>-1</updateRate> <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> <rendering:gui> <type>fltk</type> <size>800 600</size> <pos>0 0</pos> </rendering:gui> <rendering:ogre> <ambient>0.4 0.4 0.4 1.0</ambient> <sky> <material>Gazebo/CloudySky</material> </sky> <!--<fog> <color>0.9 0.9 0.9</color> <linearStart>50</linearStart> <linearEnd>100</linearEnd> </fog> --> </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/GrassFloor</material> </geom:plane> </body:plane> </model:physical> <!-- Include the complete model described in the .model file This assumes the root node is a <model:...> --> <!-- <include embedded="false"> <xi:include href="pioneer2dx.model" /> </include> --> <model:physical name="quadrotor_model_1"> <controller:quadrotor_position3d name="input"> <bodyName>chassis_body</bodyName> <interface:position name="iface"/> <control_noise>0.00 0.0 0.0 0.0</control_noise> <thrust_scale>7.0</thrust_scale> <rp_angle_scale>0.35</rp_angle_scale> <p_gain>20.0</p_gain> <v_gain>8.0</v_gain> <!--<updateRate>100</updateRate> --> <updateRate>-1</updateRate> </controller:quadrotor_position3d> <enableGravity>true</enableGravity> <xyz>0.0 0.0 0.245</xyz> <rpy>0.0 0.0 0.0</rpy> <!-- Camera Model--> <model:physical name="sonyvid30_model"> <xyz>0.0 0.0 0.0</xyz> <include embedded="true"> <xi:include href="models/quadrotor_camera2.model" /> </include> </model:physical> <include embedded="true"> <xi:include href="models/quadrotor.model" /> </include> <joint:hinge name="camera_joint"> <body1>chassis_body</body1> <body2>sonyvid30_body</body2> <anchor>0.015 0.64 0</anchor> <axis>0 1 0</axis> <erp>0.4</erp> <cfm>0.8</cfm> <lowStop>-0.0</lowStop> <highStop>0.0</highStop> </joint:hinge> <!--Non riesce a vedere il controllore --> <!-- <controller:differential_position2d name="controller1"> <leftJoint>left_front_wheel_hinge</leftJoint> <rightJoint>right_front_wheel_hinge</rightJoint> <wheelSeparation>0.34</wheelSeparation> <wheelDiameter>0.15</wheelDiameter> <torque>10.0</torque> <interface:position name="position_iface_0"/> </controller:differential_position2d> --> </model:physical> <!-- White Directional light --> <model:renderable name="directional_white"> <enableGravity>false</enableGravity> <light> <type>directional</type> <direction>0 -0.8 -0.3</direction> <diffuseColor>0.9 0.9 0.9</diffuseColor> <specularColor>0.0 0.0 0.0</specularColor> <range>100</range> <!-- Constant(0-1) Linear(0-1) Quadratic --> <attenuation>0.0 1.0 0.4</attenuation> </light> </model:renderable> </gazebo:world> Actually, I've seen that with and without the attach command change something but the problem is the same. I really don't know the reason of this problem because it is very strange that with a payload it works and with a camera no! Thanks a lot for any reply Neostek 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 > > Thanks a lot for any reply!!!!! > -- View this message in context: http://old.nabble.com/Instability-problem-tp27320617p27353865.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
