Hi, I commented out the quadrotor_position3d controllers from your latest world/model files, and the simulation appears stable. What exactly does the quadrotor controller do? Can you also post the controller? as a plugin? I am a bit unclear about what you mean by "replace payload with camera", can you post both versions of the world files so I can diff them? Does the controller assume some kind of mass balance of the model? Thanks, John
On Thu, Jan 28, 2010 at 2:27 AM, Neostek <[email protected]> wrote: > > 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 > 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