Unless the linear force to Y direction and torque to Yaw and Roll set to zero values, it's diverging after some time. Attempts to change ODE solver parameters were performed. It definitely affects the diverging speed but does not solve the problem entirely.
Observed problem: Diverging after some time
Unless the linear force to Y direction and torque to Yaw and Roll set to zero values, it's diverging after some time. Attempts to change ODE solver parameters were performed. It definitely affects the diverging speed but does not solve the problem entirely.
The code is not in the master. Dynamics plugin for 6-DOF was included in DirectROSKinematics_plugin branch.
Previous validations in straight line movements