ros-gopigo3 / gopigo3 Goto Github PK

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:

• Moving some links of the robot by -2cm in x-direction to make the wheel centers coincide with motor shafts (base_link_cad, imu_link, distance_sensor, camera_link)
• Scaling left and right wheel visuals to have the same size (66mm diameter) as their collision shape
• Moving base_scan link and its collision object to make the ray sensor measuring plane and the collision shape be aligned with the YDLidar X4 visual
• Moving camera_link and its collision box to be aligned with the Pi camera visual
• Modifying base_link inertia and wheel mechanical properties (friction, maxVel) to respond more realistic to velocity commands
• Setting ray sensor properties to model YDLidar measurements more realistic (10Hz update rate, 500 samples in a turn)
• Camera sensor output is not published. Setting camera sensor reference frame to camera_rgb_frame solves this

The proposed changes are performed in the attached ZIP file:
gopigo3_urdf_bugfix.zip