ros-gopigo3 / gopigo3 Goto Github PK
View Code? Open in Web Editor NEWROS packages for controlling GoPiGo3 robot
License: MIT License
ROS packages for controlling GoPiGo3 robot
License: MIT License
I tried to use the GoPiGo3 URDF model in Gazebo but found that it has quite strange behavior in physical simulation. This is caused by bugs in collision geometries of several links which can be unveiled by making visual elements from collision shapes (see this video and the pictures below):
https://youtu.be/neTzbekXt9I
Visualized in RViz (unveiled visuals corresponding to collision shapes are shown in red):
After fixing these the simulated robot model will behave much more realistic:
Some other bugfixes and tweaks are recommended in gopigo3.urdf.xacro
and gopigo3.gazebo.xacro
:
base_link_cad
, imu_link
, distance_sensor
, camera_link
)base_scan
link and its collision object to make the ray sensor measuring plane and the collision shape be aligned with the YDLidar X4 visualcamera_link
and its collision box to be aligned with the Pi camera visualbase_link
inertia and wheel mechanical properties (friction, maxVel) to respond more realistic to velocity commandscamera_rgb_frame
solves thisThe proposed changes are performed in the attached ZIP file:
gopigo3_urdf_bugfix.zip
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