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Fix Kobuki's inertia #271

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bit-pirate opened this issue Jun 17, 2013 · 2 comments
Closed

Fix Kobuki's inertia #271

bit-pirate opened this issue Jun 17, 2013 · 2 comments
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type:enhancement
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Hydro

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@bit-pirate
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Currently the centre of mass is assumed to be in the centre of Kobuki's volume, which is wrong (mostly due to the battery being intentionally placed at the front).

The result is that in Gazebo Kobuki is constantly bouncing from the front to the back and vice versa.
@ghost ghost assigned bit-pirate Jun 17, 2013
@bit-pirate
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DK is checking, if he can calculate it with their software.

@stonier
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stonier commented Jun 18, 2013

For the approximate purposes of simulation, it would be close to being halfway from the centre to the front of the robot. If you want to save time, just do that but make sure there is a comment next to it saying this is just a rough guess, not a calculation.

If DK can calculate quickly though, thats good.

@bit-pirate bit-pirate mentioned this issue Jun 24, 2013
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bit-pirate added a commit that referenced this issue Aug 20, 2013
@bit-pirate
Merge pull request #282 from bit-pirate/hydro-devel
45ede22 
corrects inertia and center of mass using an approximation (fixes #271)
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@stonier @bit-pirate