gazebo: wheel collision #2 lets MiR sink into ground_plane

relffok / mir_robot

ROS 2 support for the MiR100 Robot. This is a community project to use the MiR Robots with ROS. It is not affiliated with Mobile Industrial Robots.

BSD 3-Clause "New" or "Revised" License

6 stars 3 forks source link

gazebo: wheel collision #2 lets MiR sink into ground_plane #25

Open relffok opened 2 years ago

relffok commented 2 years ago

I fast too fast to close https://github.com/relffok/mir_robot/issues/1, using the cylinder collision prevented MiR from tilting but I realized the wheels sink into the floor.

sinking_wheels

Quick check with the tf showed that the collision needs to be rotated (mesh already had that rotation included). The screenshot shows the cylindric collision as the visual.

collisions_as_visual

relffok commented 2 years ago

This was my mistake, rotation fixed in 11cb54b705ff261c31aaaba65416a0cf039b1659 wheels still sink (maybe a little less).