I have modeled a differential drive robot in Gazebo. The problem is
that when I driver the robot from Player it seems to have quite a bit of
inertia. When turning to the left or the right it overshoots the target
quite a bit. The real robot uses stepper motors so that once you tell
it to stop turning it does. Is there a way to get Gazebo to better
model a stepper motor? I am using Player 3.0.1, Gazebo 0.9.0, and ODE
0.11.1.
Here is what I have in the model file.
<body:cylinder name="left_wheel_body">
<xyz>0.0 0.1325 -0.2032</xyz>
<rpy>0 90 90</rpy>
<geom:cylinder name="left_wheel_geom">
<size>.0635 .032</size>
<mass>0.5</mass>
<visual>
<rpy>0 0 90</rpy>
<size>0.127 0.127 0.032</size>
<mesh>drivewheel.mesh</mesh>
<material>Gazebo/Black</material>
</visual>
</geom:cylinder>
</body:cylinder>
<body:cylinder name="right_wheel_body">
<xyz>0.0 -0.1325 -0.2032</xyz>
<rpy>0 90 90</rpy>
<geom:cylinder name="right_wheel_geom">
<size>.0635 .032</size>
<mass>0.5</mass>
<visual>
<rpy>0 0 90</rpy>
<size>0.127 0.127 0.032</size>
<mesh>drivewheel.mesh</mesh>
<material>Gazebo/Black</material>
</visual>
</geom:cylinder>
</body:cylinder>
<joint:hinge name="left_wheel_joint">
<body1>left_wheel_body</body1>
<body2>chassis_body</body2>
<anchor>left_wheel_body</anchor>
<anchorOffset>0 0 0</anchorOffset>
<axis>0 1 0</axis>
<erp>0.8</erp>
<cfm>10e-5</cfm>
</joint:hinge>
<joint:hinge name="right_wheel_joint">
<body1>right_wheel_body</body1>
<body2>chassis_body</body2>
<anchor>right_wheel_body</anchor>
<anchorOffset>0 0 0</anchorOffset>
<axis>0 1 0</axis>
<erp>0.8</erp>
<cfm>10e-5</cfm>
</joint:hinge>
<controller:differential_position2d name="controller1">
<leftJoint>right_wheel_joint</leftJoint>
<rightJoint>left_wheel_joint</rightJoint>
<wheelSeparation>0.265</wheelSeparation>
<wheelDiameter>0.127</wheelDiameter>
<torque>1</torque>
<interface:position name="position_iface_0"/>
</controller:differential_position2d>
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