fix: add joints dynamical parameters for gazebo simulation

TechmanRobotInc / tmr_ros2

TM Robots supporting ROS2 drivers and some extended external applications. (experimental) (not support the new TM S-Series)

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fix: add joints dynamical parameters for gazebo simulation #25

Open MarcoMagriDev opened 1 year ago

MarcoMagriDev commented 1 year ago

To achieve a stable behavior of the robot controlled in gazebo simulation the dynamical parameters of the joints are adjusted as suggested here

MatthijsBurgh commented 1 year ago

@MarcoMagriDev the values in this PR are 10x bigger than in the mentioned issue. Any reason?

MarcoMagriDev commented 1 year ago

@MatthijsBurgh Since it has been a long time since I submitted the request, I hope I remember correctly. The proposed values are different from those mentioned in the issues for two reasons:

the robot dynamic parameters (masses, intertias) are different
the simulation step that i have used (0.001s) is smaller than the one related to the issue