Help Needed: Enabling Realistic Movement for Truck Model in Complex Terrain with ODE Physics about gazebo-classic

[marcusvinicius178]

The solution was switch the default complex physics:

    <physics type="ode">
      <real_time_update_rate>1000.0</real_time_update_rate>
      <max_step_size>0.013</max_step_size> <!-- Smaller for more accuracy -->
      <real_time_factor>1</real_time_factor>
      <ode>
        <solver>
          <type>quick</type>
          <iters>100</iters> <!-- Reduced from 150 to potentially soften the simulation, lower to reduce computational load -->
          <precon_iters>0</precon_iters>
          <sor>1.4</sor> <!-- Lower to potentially reduce rigidity -->
          <use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
        </solver>
        <constraints>
          <cfm>0.001</cfm> <!-- Lower for a tighter simulation, reducing "sponginess" -->
          <erp>0.15</erp> <!-- Increase to ensure error correction is more effective -->
          <contact_max_correcting_vel>500.000000</contact_max_correcting_vel> <!-- Lower to reduce the aggressiveness of contact corrections -->
          <contact_surface_layer>0.01</contact_surface_layer> <!-- Lower to minimize penetration without increasing rigidity -->
        </constraints>
      </ode>
    </physics>

for this basic one, based on Prius Repository

    <physics name='default_physics' default='0' type='ode'>
      <max_step_size>0.001</max_step_size>
      <real_time_factor>1</real_time_factor>
      <real_time_update_rate>1000</real_time_update_rate>
    </physics>

However I am still facing an issue, which is the joints of my truck does not let it static, even if I publish a cmd_vel = 0 to emulate a handbrake. It starts falling down on reverse as the video below shows:

Truck Sliding on Reverse

I am trying to implement a fake anchor, kind of handbrake, to attach the truck to the ground, but not sure if it is going to work.

Otherwise I will need to switch the simple ackermman gazeboplugin for a more complex dynamic truck model, which assigns torque, force, power, etc to the truck's whell joints such as Prius Hybrid Plugins

[marcusvinicius178]

Hi, I have realized that the gazebo Ackermann plugin just simulates kinematics, which is why my truck is not able to move on inclined terrains with high friction. If someone has developed an Ackermann Dynamic model plugin for Gazebo simulations, which handles with Effort, Torque, Force, Power, please let me know. I guess something similar to Prius control from ROS1 could work: https://github.com/osrf/car_demo/blob/master/car_demo/plugins/PriusHybridPlugin.cc