From: Neostek <mar...@li...> - 2010-01-26 10:32:58
|
Hi all, I have a problem with my quadrotor, simulated in Gazebo. If I placed under my quadrotor a static payload (a box), I succeed to stabilize the quadrotor and the payload on a fixed position. if I substituted the payload with three bodies (i.e. the sonyvid30 camera) that have the same weight of the payload, I didn't succeed to stabilize them. I think that it is a problem caused by: 1) the bodies interaction of the camera (too force between them) 2) a my incorrect call of the "include" Please help me, there are 15 days that I try to solve this problem and I don't know neither its reason. Attached, there are my world (quadrotor.world), http://old.nabble.com/file/p27320617/quadrotor.world quadrotor.world , the camera model (quadrotor_camera2.model) http://old.nabble.com/file/p27320617/quadrotor_camera2.model quadrotor_camera2.model , the quadrotor model (quadrotor.model) http://old.nabble.com/file/p27320617/quadrotor.model quadrotor.model and the cfg file (quadrotor.cfg) http://old.nabble.com/file/p27320617/quadrotor.cfg quadrotor.cfg -- View this message in context: http://old.nabble.com/Instability-problem-tp27320617p27320617.html Sent from the playerstage-gazebo mailing list archive at Nabble.com. |
From: John H. <jo...@wi...> - 2010-01-26 17:55:46
|
Hi Neostek, One of the problem I can see might be the usage of <attach>. Though I havent' tried recently, <attach>ing bodies together lead to unstable behaviors. Try connecting bodies together using hinge joints with hiStop and loStop of 0 as fixed joints. John On Tue, Jan 26, 2010 at 2:32 AM, Neostek <mar...@li...> wrote: > > Hi all, > I have a problem with my quadrotor, simulated in Gazebo. > If I placed under my quadrotor a static payload (a box), I succeed to > stabilize the quadrotor and the payload on a fixed position. > if I substituted the payload with three bodies (i.e. the sonyvid30 camera) > that have the same weight of the payload, I didn't succeed to stabilize > them. > I think that it is a problem caused by: > 1) the bodies interaction of the camera (too force between them) > 2) a my incorrect call of the "include" > > Please help me, there are 15 days that I try to solve this problem and I > don't know neither its reason. > Attached, there are my world (quadrotor.world), > http://old.nabble.com/file/p27320617/quadrotor.world quadrotor.world , the > camera model (quadrotor_camera2.model) > http://old.nabble.com/file/p27320617/quadrotor_camera2.model > quadrotor_camera2.model , the quadrotor model (quadrotor.model) > http://old.nabble.com/file/p27320617/quadrotor.model quadrotor.model and > the cfg file (quadrotor.cfg) > http://old.nabble.com/file/p27320617/quadrotor.cfg quadrotor.cfg > > -- > View this message in context: > http://old.nabble.com/Instability-problem-tp27320617p27320617.html > Sent from the playerstage-gazebo mailing list archive at Nabble.com. > > > > ------------------------------------------------------------------------------ > The Planet: dedicated and managed hosting, cloud storage, colocation > Stay online with enterprise data centers and the best network in the > business > Choose flexible plans and management services without long-term contracts > Personal 24x7 support from experience hosting pros just a phone call away. > http://p.sf.net/sfu/theplanet-com > _______________________________________________ > Playerstage-gazebo mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > |
From: Nate K. <nat...@gm...> - 2010-01-26 22:14:46
|
Hello, What do you mean by "stabilize the quadrotor"? I modified your world file: ... <physics:ode> <stepTime>0.001</stepTime> <gravity>0 0 -9.8</gravity> <cfm>0.0000000001</cfm> <erp>0.2</erp> <quickStep>true</quickStep> <quickStepIters>10</quickStepIters> <quickStepW>1.3</quickStepW> <contactMaxCorrectingVel>100.0</contactMaxCorrectingVel> <contactSurfaceLayer>0.001</contactSurfaceLayer> </physics:ode> ... And your model appears just fine. -nate On Tue, Jan 26, 2010 at 9:55 AM, John Hsu <jo...@wi...> wrote: > Hi Neostek, > > One of the problem I can see might be the usage of <attach>. Though I > havent' tried recently, <attach>ing bodies together lead to unstable > behaviors. Try connecting bodies together using hinge joints with hiStop > and loStop of 0 as fixed joints. > > John > > On Tue, Jan 26, 2010 at 2:32 AM, Neostek <mar...@li...> wrote: > >> >> Hi all, >> I have a problem with my quadrotor, simulated in Gazebo. >> If I placed under my quadrotor a static payload (a box), I succeed to >> stabilize the quadrotor and the payload on a fixed position. >> if I substituted the payload with three bodies (i.e. the sonyvid30 camera) >> that have the same weight of the payload, I didn't succeed to stabilize >> them. >> I think that it is a problem caused by: >> 1) the bodies interaction of the camera (too force between them) >> 2) a my incorrect call of the "include" >> >> Please help me, there are 15 days that I try to solve this problem and I >> don't know neither its reason. >> Attached, there are my world (quadrotor.world), >> http://old.nabble.com/file/p27320617/quadrotor.world quadrotor.world , the >> camera model (quadrotor_camera2.model) >> http://old.nabble.com/file/p27320617/quadrotor_camera2.model >> quadrotor_camera2.model , the quadrotor model (quadrotor.model) >> http://old.nabble.com/file/p27320617/quadrotor.model quadrotor.model and >> the cfg file (quadrotor.cfg) >> http://old.nabble.com/file/p27320617/quadrotor.cfg quadrotor.cfg >> >> -- >> View this message in context: >> http://old.nabble.com/Instability-problem-tp27320617p27320617.html >> Sent from the playerstage-gazebo mailing list archive at Nabble.com. >> >> >> >> ------------------------------------------------------------------------------ >> The Planet: dedicated and managed hosting, cloud storage, colocation >> Stay online with enterprise data centers and the best network in the >> business >> Choose flexible plans and management services without long-term contracts >> Personal 24x7 support from experience hosting pros just a phone call away. >> http://p.sf.net/sfu/theplanet-com >> _______________________________________________ >> Playerstage-gazebo mailing list >> Pla...@li... >> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo >> > ------------------------------------------------------------------------------ > The Planet: dedicated and managed hosting, cloud storage, colocation > Stay online with enterprise data centers and the best network in the business > Choose flexible plans and management services without long-term contracts > Personal 24x7 support from experience hosting pros just a phone call away. > http://p.sf.net/sfu/theplanet-com > _______________________________________________ > Playerstage-gazebo mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > |
From: Neostek <mar...@li...> - 2010-01-27 10:21:45
|
I mean that if I write a position to the quadrotor, if it has only a payload it goes to this position and it stay there. If It has a camera with the same weight it start to swing around this point, always stronger and so it doesn't stay there. I use a PD controller. I've also tried to tune the PD's parameters but I think that it can be a problem about an incorrect use of attach (but I'm not so sure about that because also the payload model use this function) or about the camera but I don't see any problem in my code.... Thanks for any reply.... Nate Koenig wrote: > > Hello, > > What do you mean by "stabilize the quadrotor"? > > I modified your world file: > > ... > <physics:ode> > <stepTime>0.001</stepTime> > <gravity>0 0 -9.8</gravity> > <cfm>0.0000000001</cfm> > <erp>0.2</erp> > <quickStep>true</quickStep> > <quickStepIters>10</quickStepIters> > <quickStepW>1.3</quickStepW> > <contactMaxCorrectingVel>100.0</contactMaxCorrectingVel> > <contactSurfaceLayer>0.001</contactSurfaceLayer> > </physics:ode> > ... > > And your model appears just fine. > > -nate > > On Tue, Jan 26, 2010 at 9:55 AM, John Hsu <jo...@wi...> > wrote: >> Hi Neostek, >> >> One of the problem I can see might be the usage of <attach>. Though I >> havent' tried recently, <attach>ing bodies together lead to unstable >> behaviors. Try connecting bodies together using hinge joints with hiStop >> and loStop of 0 as fixed joints. >> >> John >> >> On Tue, Jan 26, 2010 at 2:32 AM, Neostek <mar...@li...> >> wrote: >> >>> >>> Hi all, >>> I have a problem with my quadrotor, simulated in Gazebo. >>> If I placed under my quadrotor a static payload (a box), I succeed to >>> stabilize the quadrotor and the payload on a fixed position. >>> if I substituted the payload with three bodies (i.e. the sonyvid30 >>> camera) >>> that have the same weight of the payload, I didn't succeed to stabilize >>> them. >>> I think that it is a problem caused by: >>> 1) the bodies interaction of the camera (too force between them) >>> 2) a my incorrect call of the "include" >>> >>> Please help me, there are 15 days that I try to solve this problem and I >>> don't know neither its reason. >>> Attached, there are my world (quadrotor.world), >>> http://old.nabble.com/file/p27320617/quadrotor.world quadrotor.world , >>> the >>> camera model (quadrotor_camera2.model) >>> http://old.nabble.com/file/p27320617/quadrotor_camera2.model >>> quadrotor_camera2.model , the quadrotor model (quadrotor.model) >>> http://old.nabble.com/file/p27320617/quadrotor.model quadrotor.model >>> and >>> the cfg file (quadrotor.cfg) >>> http://old.nabble.com/file/p27320617/quadrotor.cfg quadrotor.cfg >>> >>> -- >>> View this message in context: >>> http://old.nabble.com/Instability-problem-tp27320617p27320617.html >>> Sent from the playerstage-gazebo mailing list archive at Nabble.com. >>> >>> >>> >>> ------------------------------------------------------------------------------ >>> The Planet: dedicated and managed hosting, cloud storage, colocation >>> Stay online with enterprise data centers and the best network in the >>> business >>> Choose flexible plans and management services without long-term >>> contracts >>> Personal 24x7 support from experience hosting pros just a phone call >>> away. >>> http://p.sf.net/sfu/theplanet-com >>> _______________________________________________ >>> Playerstage-gazebo mailing list >>> Pla...@li... >>> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo >>> >> ------------------------------------------------------------------------------ >> The Planet: dedicated and managed hosting, cloud storage, colocation >> Stay online with enterprise data centers and the best network in the >> business >> Choose flexible plans and management services without long-term contracts >> Personal 24x7 support from experience hosting pros just a phone call >> away. >> http://p.sf.net/sfu/theplanet-com >> _______________________________________________ >> Playerstage-gazebo mailing list >> Pla...@li... >> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo >> > > ------------------------------------------------------------------------------ > The Planet: dedicated and managed hosting, cloud storage, colocation > Stay online with enterprise data centers and the best network in the > business > Choose flexible plans and management services without long-term contracts > Personal 24x7 support from experience hosting pros just a phone call away. > http://p.sf.net/sfu/theplanet-com > _______________________________________________ > Playerstage-gazebo mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > > -- View this message in context: http://old.nabble.com/Instability-problem-tp27320617p27335631.html Sent from the playerstage-gazebo mailing list archive at Nabble.com. |
From: Neostek <mar...@li...> - 2010-01-28 10:27:49
|
Hi all, firtst of all, thanks a lot for your help. I tried to modify as you show me my file.world and I obtain: <?xml version="1.0"?> <gazebo:world xmlns:xi="http://www.w3.org/2001/XInclude" xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz" xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:window="http://playerstage.sourceforge.net/gazebo/xmlschema/#window" xmlns:param="http://playerstage.sourceforge.net/gazebo/xmlschema/#param" xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body" xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom" xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:ui="http://playerstage.sourceforge.net/gazebo/xmlschema/#ui" xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics" > <verbosity>5</verbosity> <!-- <physics:ode> <updateRate>-1</updateRate> <stepTime>0.03</stepTime> <gravity>0 0 -9.8</gravity> <cfm>10e-5</cfm> <erp>0.8</erp> </physics:ode> --> <physics:ode> <stepTime>0.001</stepTime> <updateRate>-1</updateRate> <gravity>0 0 -9.8</gravity> <cfm>0.0000000001</cfm> <erp>0.2</erp> <quickStep>true</quickStep> <quickStepIters>10</quickStepIters> <quickStepW>1.3</quickStepW> <contactMaxCorrectingVel>100.0</contactMaxCorrectingVel> <contactSurfaceLayer>0.001</contactSurfaceLayer> </physics:ode> <rendering:gui> <type>fltk</type> <size>800 600</size> <pos>0 0</pos> </rendering:gui> <rendering:ogre> <ambient>0.4 0.4 0.4 1.0</ambient> <sky> <material>Gazebo/CloudySky</material> </sky> <!--<fog> <color>0.9 0.9 0.9</color> <linearStart>50</linearStart> <linearEnd>100</linearEnd> </fog> --> </rendering:ogre> <!-- Ground Plane --> <model:physical name="plane1_model"> <xyz>0 0 0</xyz> <rpy>0 0 0</rpy> <static>true</static> <body:plane name="plane1_body"> <geom:plane name="plane1_geom"> <normal>0 0 1</normal> <size>2000 2000</size> <segments>10 10</segments> <uvTile>100 100</uvTile> <material>Gazebo/GrassFloor</material> </geom:plane> </body:plane> </model:physical> <!-- Include the complete model described in the .model file This assumes the root node is a <model:...> --> <!-- <include embedded="false"> <xi:include href="pioneer2dx.model" /> </include> --> <model:physical name="quadrotor_model_1"> <controller:quadrotor_position3d name="input"> <bodyName>chassis_body</bodyName> <interface:position name="iface"/> <control_noise>0.00 0.0 0.0 0.0</control_noise> <thrust_scale>7.0</thrust_scale> <rp_angle_scale>0.35</rp_angle_scale> <p_gain>20.0</p_gain> <v_gain>8.0</v_gain> <!--<updateRate>100</updateRate> --> <updateRate>-1</updateRate> </controller:quadrotor_position3d> <enableGravity>true</enableGravity> <xyz>0.0 0.0 0.245</xyz> <rpy>0.0 0.0 0.0</rpy> <!-- Camera Model--> <model:physical name="sonyvid30_model"> <xyz>0.0 0.0 0.0</xyz> <include embedded="true"> <xi:include href="models/quadrotor_camera2.model" /> </include> </model:physical> <include embedded="true"> <xi:include href="models/quadrotor.model" /> </include> <joint:hinge name="camera_joint"> <body1>chassis_body</body1> <body2>sonyvid30_body</body2> <anchor>0.015 0.64 0</anchor> <axis>0 1 0</axis> <erp>0.4</erp> <cfm>0.8</cfm> <lowStop>-0.0</lowStop> <highStop>0.0</highStop> </joint:hinge> <!--Non riesce a vedere il controllore --> <!-- <controller:differential_position2d name="controller1"> <leftJoint>left_front_wheel_hinge</leftJoint> <rightJoint>right_front_wheel_hinge</rightJoint> <wheelSeparation>0.34</wheelSeparation> <wheelDiameter>0.15</wheelDiameter> <torque>10.0</torque> <interface:position name="position_iface_0"/> </controller:differential_position2d> --> </model:physical> <!-- White Directional light --> <model:renderable name="directional_white"> <enableGravity>false</enableGravity> <light> <type>directional</type> <direction>0 -0.8 -0.3</direction> <diffuseColor>0.9 0.9 0.9</diffuseColor> <specularColor>0.0 0.0 0.0</specularColor> <range>100</range> <!-- Constant(0-1) Linear(0-1) Quadratic --> <attenuation>0.0 1.0 0.4</attenuation> </light> </model:renderable> </gazebo:world> Actually, I've seen that with and without the attach command change something but the problem is the same. I really don't know the reason of this problem because it is very strange that with a payload it works and with a camera no! Thanks a lot for any reply Neostek wrote: > > Hi all, > I have a problem with my quadrotor, simulated in Gazebo. > If I placed under my quadrotor a static payload (a box), I succeed to > stabilize the quadrotor and the payload on a fixed position. > if I substituted the payload with three bodies (i.e. the sonyvid30 camera) > that have the same weight of the payload, I didn't succeed to stabilize > them. > I think that it is a problem caused by: > 1) the bodies interaction of the camera (too force between them) > 2) a my incorrect call of the "include" > > Please help me, there are 15 days that I try to solve this problem and I > don't know neither its reason. > Attached, there are my world (quadrotor.world), > http://old.nabble.com/file/p27320617/quadrotor.world quadrotor.world , the > camera model (quadrotor_camera2.model) > http://old.nabble.com/file/p27320617/quadrotor_camera2.model > quadrotor_camera2.model , the quadrotor model (quadrotor.model) > http://old.nabble.com/file/p27320617/quadrotor.model quadrotor.model and > the cfg file (quadrotor.cfg) > http://old.nabble.com/file/p27320617/quadrotor.cfg quadrotor.cfg > > Thanks a lot for any reply!!!!! > -- View this message in context: http://old.nabble.com/Instability-problem-tp27320617p27353865.html Sent from the playerstage-gazebo mailing list archive at Nabble.com. |
From: John H. <jo...@wi...> - 2010-01-28 18:24:30
|
Hi, I commented out the quadrotor_position3d controllers from your latest world/model files, and the simulation appears stable. What exactly does the quadrotor controller do? Can you also post the controller? as a plugin? I am a bit unclear about what you mean by "replace payload with camera", can you post both versions of the world files so I can diff them? Does the controller assume some kind of mass balance of the model? Thanks, John On Thu, Jan 28, 2010 at 2:27 AM, Neostek <mar...@li...> wrote: > > Hi all, > firtst of all, thanks a lot for your help. > I tried to modify as you show me my file.world and I obtain: > > <?xml version="1.0"?> > > <gazebo:world > xmlns:xi="http://www.w3.org/2001/XInclude" > xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz" > xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model" > xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor > " > xmlns:window="http://playerstage.sourceforge.net/gazebo/xmlschema/#window > " > xmlns:param="http://playerstage.sourceforge.net/gazebo/xmlschema/#param" > xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body" > xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom" > xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint" > > xmlns:interface=" > http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" > xmlns:ui="http://playerstage.sourceforge.net/gazebo/xmlschema/#ui" > > xmlns:rendering=" > http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering" > > xmlns:controller=" > http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" > > xmlns:physics=" > http://playerstage.sourceforge.net/gazebo/xmlschema/#physics" > > > > <verbosity>5</verbosity> > <!-- > <physics:ode> > <updateRate>-1</updateRate> > <stepTime>0.03</stepTime> > <gravity>0 0 -9.8</gravity> > <cfm>10e-5</cfm> > <erp>0.8</erp> > </physics:ode> > --> > > <physics:ode> > <stepTime>0.001</stepTime> > <updateRate>-1</updateRate> > <gravity>0 0 -9.8</gravity> > <cfm>0.0000000001</cfm> > <erp>0.2</erp> > <quickStep>true</quickStep> > <quickStepIters>10</quickStepIters> > <quickStepW>1.3</quickStepW> > <contactMaxCorrectingVel>100.0</contactMaxCorrectingVel> > <contactSurfaceLayer>0.001</contactSurfaceLayer> > </physics:ode> > > <rendering:gui> > <type>fltk</type> > <size>800 600</size> > <pos>0 0</pos> > </rendering:gui> > > <rendering:ogre> > <ambient>0.4 0.4 0.4 1.0</ambient> > <sky> > <material>Gazebo/CloudySky</material> > </sky> > > <!--<fog> > <color>0.9 0.9 0.9</color> > <linearStart>50</linearStart> > <linearEnd>100</linearEnd> > </fog> > --> > </rendering:ogre> > > <!-- Ground Plane --> > <model:physical name="plane1_model"> > <xyz>0 0 0</xyz> > <rpy>0 0 0</rpy> > <static>true</static> > > <body:plane name="plane1_body"> > <geom:plane name="plane1_geom"> > <normal>0 0 1</normal> > <size>2000 2000</size> > <segments>10 10</segments> > <uvTile>100 100</uvTile> > <material>Gazebo/GrassFloor</material> > </geom:plane> > </body:plane> > </model:physical> > > <!-- > Include the complete model described in the .model file > This assumes the root node is a <model:...> > --> > <!-- <include embedded="false"> > <xi:include href="pioneer2dx.model" /> > </include> > --> > > > <model:physical name="quadrotor_model_1"> > <controller:quadrotor_position3d name="input"> > <bodyName>chassis_body</bodyName> > <interface:position name="iface"/> > <control_noise>0.00 0.0 0.0 0.0</control_noise> > <thrust_scale>7.0</thrust_scale> > <rp_angle_scale>0.35</rp_angle_scale> > <p_gain>20.0</p_gain> > <v_gain>8.0</v_gain> > <!--<updateRate>100</updateRate> > --> > <updateRate>-1</updateRate> > </controller:quadrotor_position3d> > > <enableGravity>true</enableGravity> > <xyz>0.0 0.0 0.245</xyz> > <rpy>0.0 0.0 0.0</rpy> > > > <!-- Camera Model--> > > <model:physical name="sonyvid30_model"> > <xyz>0.0 0.0 0.0</xyz> > > <include embedded="true"> > <xi:include href="models/quadrotor_camera2.model" /> > </include> > </model:physical> > > <include embedded="true"> > <xi:include href="models/quadrotor.model" /> > </include> > > > <joint:hinge name="camera_joint"> > <body1>chassis_body</body1> > <body2>sonyvid30_body</body2> > <anchor>0.015 0.64 0</anchor> > <axis>0 1 0</axis> > <erp>0.4</erp> > <cfm>0.8</cfm> > <lowStop>-0.0</lowStop> > <highStop>0.0</highStop> > </joint:hinge> > > > <!--Non riesce a vedere il controllore --> > > > <!-- > <controller:differential_position2d name="controller1"> > <leftJoint>left_front_wheel_hinge</leftJoint> > <rightJoint>right_front_wheel_hinge</rightJoint> > <wheelSeparation>0.34</wheelSeparation> > <wheelDiameter>0.15</wheelDiameter> > <torque>10.0</torque> > <interface:position name="position_iface_0"/> > </controller:differential_position2d> > --> > > </model:physical> > > <!-- White Directional light --> > <model:renderable name="directional_white"> > <enableGravity>false</enableGravity> > <light> > <type>directional</type> > <direction>0 -0.8 -0.3</direction> > <diffuseColor>0.9 0.9 0.9</diffuseColor> > <specularColor>0.0 0.0 0.0</specularColor> > <range>100</range> > > <!-- Constant(0-1) Linear(0-1) Quadratic --> > <attenuation>0.0 1.0 0.4</attenuation> > </light> > </model:renderable> > > </gazebo:world> > > Actually, I've seen that with and without the attach command change > something but the problem is the same. > I really don't know the reason of this problem because it is very strange > that with a payload it works and with a camera no! > Thanks a lot for any reply > > > > > Neostek wrote: > > > > Hi all, > > I have a problem with my quadrotor, simulated in Gazebo. > > If I placed under my quadrotor a static payload (a box), I succeed to > > stabilize the quadrotor and the payload on a fixed position. > > if I substituted the payload with three bodies (i.e. the sonyvid30 > camera) > > that have the same weight of the payload, I didn't succeed to stabilize > > them. > > I think that it is a problem caused by: > > 1) the bodies interaction of the camera (too force between them) > > 2) a my incorrect call of the "include" > > > > Please help me, there are 15 days that I try to solve this problem and I > > don't know neither its reason. > > Attached, there are my world (quadrotor.world), > > http://old.nabble.com/file/p27320617/quadrotor.world quadrotor.world , > the > > camera model (quadrotor_camera2.model) > > http://old.nabble.com/file/p27320617/quadrotor_camera2.model > > quadrotor_camera2.model , the quadrotor model (quadrotor.model) > > http://old.nabble.com/file/p27320617/quadrotor.model quadrotor.model > and > > the cfg file (quadrotor.cfg) > > http://old.nabble.com/file/p27320617/quadrotor.cfg quadrotor.cfg > > > > Thanks a lot for any reply!!!!! > > > > -- > View this message in context: > http://old.nabble.com/Instability-problem-tp27320617p27353865.html > Sent from the playerstage-gazebo mailing list archive at Nabble.com. > > > > ------------------------------------------------------------------------------ > The Planet: dedicated and managed hosting, cloud storage, colocation > Stay online with enterprise data centers and the best network in the > business > Choose flexible plans and management services without long-term contracts > Personal 24x7 support from experience hosting pros just a phone call away. > http://p.sf.net/sfu/theplanet-com > _______________________________________________ > Playerstage-gazebo mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > |