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Interbotix / interbotix_ros_rovers

ROS Packages for Interbotix Rovers
BSD 3-Clause "New" or "Revised" License
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[descriptions] [create3] Increased Kp and Kd values to stop "drifting" in Gazebo simulation #64

Closed dylan-asmar closed 6 months ago

dylan-asmar commented 7 months ago

When simulating the robot with Gazebo, the robot would drift over time with no inputs. This PR increases the Kp and Kd values for the wheel, bump_caster, and caster. This change was inspired by other "fixes" throughout forums. The main idea is to increase stiffness (Kp) and then reduce any oscillations by increasing the dampening coefficient (Kd).

Before the change, after launching the sim, the robot would drift about 0.5-1m after ~5 min. After the change, there does not appear to be any movement after ~10 min.

lukeschmitt-tr commented 6 months ago

Thank you for your contribution!