In the TurtleBot3 Gazebo simulation, the angular velocity exhibits significant fluctuations at certain points, leading to instability. ( I edited the .gazebo.xacro file)

Which TurtleBot3 platform do you use?
- [x] Waffle Pi
Which ROS is working with TurtleBot3?
- [x] ROS 1 Noetic
Please describe the issue in detail. I am using Ubuntu 20.04 and Gazebo 11.11 to simulate the TurtleBot 3 Waffle Pi robot (roslaunch turtlebot3_empty_world.launch). I modified the .gazebo.xacro file because the default settings result in significant slipping, especially at higher speeds (e.g., vx = 1.0, w = 1.0, which are not considered excessively fast).

Then I encountered the issue depicted in the image below, where the angular velocity is unstable and exhibits significant spikes. How should I adjust the parameters in the .gazebo.xacro file to address this problem? maxVel, minDepth seems to have no effect on this issue. So it maybe other params like kp, kd...

Untitled

Here is the edited .gazebo.xacro file:

<?xml version="1.0"?>
<robot name="turtlebot3_waffle_pi_sim" xmlns:xacro="http://ros.org/wiki/xacro">
  <xacro:arg name="laser_visual"  default="false"/>
  <xacro:arg name="camera_visual" default="false"/>
  <xacro:arg name="imu_visual"    default="false"/>

  <gazebo reference="base_link">
    <material>Gazebo/DarkGrey</material>
  </gazebo>

  <gazebo reference="wheel_left_link">
    <mu1>1.0</mu1>
    <mu2>1.0</mu2>
    <soft_cfm>0.0</soft_cfm>
    <soft_erp>0.2</soft_erp>
    <kp>1e15</kp>
    <kd>4e12</kd>
    <minDepth>0.001</minDepth>
    <maxVel>10</maxVel>
    <fdir1>1 0 0</fdir1>
    <material>Gazebo/FlatBlack</material>
  </gazebo>

  <gazebo reference="wheel_right_link">
    <mu1>1.0</mu1>
    <mu2>1.0</mu2>
    <soft_cfm>0.0</soft_cfm>
    <soft_erp>0.2</soft_erp>
    <kp>1e15</kp>
    <kd>4e12</kd>
    <minDepth>0.001</minDepth>
    <maxVel>10</maxVel>
    <fdir1>1 0 0</fdir1>
    <material>Gazebo/FlatBlack</material>
  </gazebo>

  <gazebo reference="caster_back_right_link">
    <mu1>0.01</mu1>
    <mu2>0.01</mu2>
    <soft_cfm>0.0</soft_cfm>
    <soft_erp>0.2</soft_erp>
    <kp>1e15</kp>
    <kd>4e12</kd>
    <minDepth>0.001</minDepth>
    <maxVel>10</maxVel>
    <material>Gazebo/FlatBlack</material>
  </gazebo>

  <gazebo reference="caster_back_left_link">
    <mu1>0.01</mu1>
    <mu2>0.01</mu2>
    <soft_cfm>0.0</soft_cfm>
    <soft_erp>0.2</soft_erp>
    <kp>1e15</kp>
    <kd>4e12</kd>
    <minDepth>0.001</minDepth>
    <maxVel>10</maxVel>
    <material>Gazebo/FlatBlack</material>
  </gazebo>

  <gazebo reference="imu_link">
    <sensor type="imu" name="imu">
      <always_on>true</always_on>
      <visualize>$(arg imu_visual)</visualize>
    </sensor>
    <material>Gazebo/Grey</material>
  </gazebo>

  <gazebo>
    <plugin name="turtlebot3_waffle_pi_controller" filename="libgazebo_ros_diff_drive.so">
      <commandTopic>cmd_vel</commandTopic>
      <odometryTopic>odom</odometryTopic>
      <odometryFrame>odom</odometryFrame>
      <odometrySource>world</odometrySource>
      <publishOdomTF>true</publishOdomTF>
      <robotBaseFrame>base_footprint</robotBaseFrame>
      <publishWheelTF>false</publishWheelTF>
      <publishTf>true</publishTf>
      <publishWheelJointState>true</publishWheelJointState>
      <legacyMode>false</legacyMode>
      <updateRate>100</updateRate>
      <leftJoint>wheel_left_joint</leftJoint>
      <rightJoint>wheel_right_joint</rightJoint>
      <wheelSeparation>0.287</wheelSeparation>
      <wheelDiameter>0.066</wheelDiameter>
      <wheelAcceleration>4</wheelAcceleration>
      <wheelTorque>10</wheelTorque>
      <rosDebugLevel>na</rosDebugLevel>
    </plugin>
  </gazebo>

  <gazebo>
    <plugin name="imu_plugin" filename="libgazebo_ros_imu.so">
      <alwaysOn>true</alwaysOn>
      <bodyName>imu_link</bodyName>
      <frameName>imu_link</frameName>
      <topicName>imu</topicName>
      <serviceName>imu_service</serviceName>
      <gaussianNoise>0.0</gaussianNoise>
      <updateRate>0</updateRate>
      <imu>
        <noise>
          <type>gaussian</type>
          <rate>
            <mean>0.0</mean>
            <stddev>2e-4</stddev>
            <bias_mean>0.0000075</bias_mean>
            <bias_stddev>0.0000008</bias_stddev>
          </rate>
          <accel>
            <mean>0.0</mean>
            <stddev>1.7e-2</stddev>
            <bias_mean>0.1</bias_mean>
            <bias_stddev>0.001</bias_stddev>
          </accel>
        </noise>
      </imu>
    </plugin>
  </gazebo>

  <gazebo reference="base_scan">
    <material>Gazebo/FlatBlack</material>
    <sensor type="ray" name="lds_lfcd_sensor">
      <pose>0 0 0 0 0 0</pose>
      <visualize>$(arg laser_visual)</visualize>
      <update_rate>5</update_rate>
      <ray>
        <scan>
          <horizontal>
            <samples>360</samples>
            <resolution>1</resolution>
            <min_angle>0.0</min_angle>
            <max_angle>6.28319</max_angle>
          </horizontal>
        </scan>
        <range>
          <min>0.120</min>
          <max>3.5</max>
          <resolution>0.015</resolution>
        </range>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.01</stddev>
        </noise>
      </ray>
      <plugin name="gazebo_ros_lds_lfcd_controller" filename="libgazebo_ros_laser.so">
        <topicName>scan</topicName>
        <frameName>base_scan</frameName>
      </plugin>
    </sensor>
  </gazebo>

<!--link : https://www.raspberrypi.org/documentation/hardware/camera/-->
  <gazebo reference="camera_rgb_frame">
    <sensor type="camera" name="Pi Camera">
      <always_on>true</always_on>
      <visualize>$(arg camera_visual)</visualize>
      <camera>
          <horizontal_fov>1.085595</horizontal_fov>
          <image>
              <width>640</width>
              <height>480</height>
              <format>R8G8B8</format>
          </image>
          <clip>
              <near>0.03</near>
              <far>100</far>
          </clip>
      </camera>
      <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
        <alwaysOn>true</alwaysOn>
        <updateRate>30.0</updateRate>
        <cameraName>camera</cameraName>
        <frameName>camera_rgb_optical_frame</frameName>
        <imageTopicName>rgb/image_raw</imageTopicName>
        <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
        <hackBaseline>0.07</hackBaseline>
        <distortionK1>0.0</distortionK1>
        <distortionK2>0.0</distortionK2>
        <distortionK3>0.0</distortionK3>
        <distortionT1>0.0</distortionT1>
        <distortionT2>0.0</distortionT2>
      </plugin>
    </sensor>
  </gazebo>

</robot>

ROBOTIS-GIT / turtlebot3

In the TurtleBot3 Gazebo simulation, the angular velocity exhibits significant fluctuations at certain points, leading to instability. ( I edited the .gazebo.xacro file) #1029