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robotology / cer-sim

Official URDF and SDF models of the R1 humanoid robot.
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New damping and stiffness to avoid sliding in Gazebo #16

Closed miccol closed 3 years ago

miccol commented 5 years ago

Adding Stiffness and damping parameters for the two tires seemed to have solved the problem of R1 sliding in gazebo..

randaz81 commented 4 years ago
vvasco commented 4 years ago

Hi @miccol @randaz81 , I'm currently using this branch to avoid R1 sliding in gazebo. I rebased it on the last version of master and updated the damping and the stiffness of the sdf of cer_320x240

pattacini commented 4 years ago

Apparently, we cannot run our simulated experiments for FDG based on current master. So, merging this PR will make our life easier 😉

Does any particular concern prevent merging?

vvasco commented 4 years ago

Btw, I'm using this branch and it works (I use gazebo 11).

miccol commented 4 years ago

Hi @miccol @randaz81 , I'm currently using this branch to avoid R1 sliding in gazebo. I rebased it on the last version of master and updated the damping and the stiffness of the sdf of cer_320x240

Thanks @vvasco , I have no concern in merging this branch. But let's wait for @randaz81's green light

randaz81 commented 4 years ago

Actually I never tested it on Gazebo 11, and there are known problems on Gazebo 9. Additionally, Gazebo 11 is uninstallable on a system with ROS melodic (last version of ubuntu 18.04) because of incompatible ubuntu packages. So I cannot merge it for now...

PS: Please note that ROS Noetic Ninjemys is expeceted to be released in May 2020. Maybe we need to wait just a couple of weeks more...

PS2: @vvasco > Hi @miccol @randaz81 , I'm currently using this branch to avoid R1 sliding in gazebo. I rebased it on the last version of master and updated the damping and the stiffness of the sdf of cer_320x240 So, If my interpretation is correct, your model cer_320x240 introduces changes to the ode parameters which could lead to a crash on gazebo 9. To better highlight this aspect, I suggest to temporarily rename it to cer_320x240_gazebo11 until gazebo 11 becomes officially supported. As mentioned, above this should not a problem anymore when we will adopt Ubuntu 20 and ROS Noetic.

pattacini commented 4 years ago

Hi @randaz81

Actually, the modifications @vvasco did are in this branch, and given that it is not merged I don't see why we should rename it.

vvasco commented 4 years ago

Hi @randaz81, let me clarify that the model cer_320x240 in master only contains the modifications to the camera parameters. The changes to the ode parameters that I applied to cer_320x240 are only in this branch.

randaz81 commented 4 years ago

ah ok, sorry, I misunderstood. Well in this case, I'd propose to wait a couple of weeks more. I'll keep you updated on the situation. I also want to switch to gazebo 11, and solve this issue ASAP!

Just for curiosity (and better alignment), are you already using Ubuntu 20 in your project?

vvasco commented 4 years ago

Nope, I'm using Ubuntu 18.04.

pattacini commented 4 years ago

Hi @randaz81 what's the current status of this?

pattacini commented 3 years ago

Gentle ping for @randaz81 on this.

pattacini commented 3 years ago

During our latest general meetup on SW, @randaz81 said that this problem should be now fixed up with Gazebo 11. Thus, we could close this PR unmerged.

Before doing this, it might be worth giving a try to our TUG pipeline in simulation @vvasco.

vvasco commented 3 years ago

I confirm the robot does not slide in Gazebo 11.0 (tested on Ubuntu 18.04). I also tested our TUG pipeline and it works.

@pattacini @randaz81 @miccol

pattacini commented 3 years ago

Thanks @vvasco for testing this! @miccol I'll close this PR unmerged then!