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R1 rover wheel friction model improved for stability of EKF2 while PX4 SITL is running. #1030

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R1 rover wheel friction model improved for stability of EKF2 while PX4 SITL is running. #1030

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543a3f8
Wheel friction params are improved for more numerical stability of PX…
YongraeKim Feb 29, 2024
0d62c40
Camera: Add support for video capture and range zoom (#1031)
DonLakeFlyer Mar 1, 2024
bc21673
Change lockstep to true('no effects on the sim stab')
May 31, 2024
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42 changes: 21 additions & 21 deletions models/r1_rover/r1_rover.sdf.jinja
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Original file line number Diff line number Diff line change
Expand Up @@ -154,16 +154,16 @@
<surface>
<friction>
<torsional>
<coefficient>0.25</coefficient>
<coefficient>1.0</coefficient>
<use_patch_radius>1</use_patch_radius>
<surface_radius>0.0686</surface_radius>
<surface_radius>0.0617</surface_radius>
</torsional>
<ode>
<mu>1.0</mu>
<mu2>0.45</mu2>
<fdir1>1 0 0</fdir1>
<slip1>0.0</slip1>
<slip2>0.0</slip2>
<fdir1>1 1 0</fdir1>
<slip1>0.01</slip1>
<slip2>0.005</slip2>
</ode>
</friction>
<bounce>
Expand Down Expand Up @@ -240,16 +240,16 @@
<surface>
<friction>
<torsional>
<coefficient>0.25</coefficient>
<coefficient>1.0</coefficient>
<use_patch_radius>1</use_patch_radius>
<surface_radius>0.0686</surface_radius>
<surface_radius>0.0617</surface_radius>
</torsional>
<ode>
<mu>1.0</mu>
<mu2>0.45</mu2>
<fdir1>1 0 0</fdir1>
<slip1>0.0</slip1>
<slip2>0.0</slip2>
<fdir1>1 1 0</fdir1>
<slip1>0.01</slip1>
<slip2>0.005</slip2>
</ode>
</friction>
<bounce>
Expand Down Expand Up @@ -326,16 +326,16 @@
<surface>
<friction>
<torsional>
<coefficient>0.25</coefficient>
<coefficient>1.0</coefficient>
<use_patch_radius>1</use_patch_radius>
<surface_radius>0.0686</surface_radius>
<surface_radius>0.0617</surface_radius>
</torsional>
<ode>
<mu>1.0</mu>
<mu2>0.45</mu2>
<fdir1>1 0 0</fdir1>
<slip1>0.0</slip1>
<slip2>0.0</slip2>
<fdir1>1 1 0</fdir1>
<slip1>0.01</slip1>
<slip2>0.005</slip2>
</ode>
</friction>
<bounce>
Expand Down Expand Up @@ -410,16 +410,16 @@
<surface>
<friction>
<torsional>
<coefficient>0.25</coefficient>
<coefficient>1.0</coefficient>
<use_patch_radius>1</use_patch_radius>
<surface_radius>0.0686</surface_radius>
<surface_radius>0.0617</surface_radius>
</torsional>
<ode>
<mu>1.0</mu>
<mu2>0.45</mu2>
<fdir1>1 0 0</fdir1>
<slip1>0.0</slip1>
<slip2>0.0</slip2>
<fdir1>1 1 0</fdir1>
<slip1>0.01</slip1>
<slip2>0.005</slip2>
</ode>
</friction>
<bounce>
Expand Down Expand Up @@ -570,7 +570,7 @@
<sdk_udp_port>14540</sdk_udp_port>
<hil_mode>false</hil_mode>
<hil_state_level>false</hil_state_level>
<enable_lockstep>true</enable_lockstep>
<enable_lockstep>false</enable_lockstep>
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Is there a reason to disable lockstep?

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@YongraeKim YongraeKim May 31, 2024 •
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Ah.. that may be my mistake. As I remember, that wouldn't do effect on the sim stability. But i'll check on it.

Oh, I remembered again and checked it,
and i found that error message occurs on simulator_mavlink
which say 'ERROR [simulator_mavlink] poll timeout 0, 22' if enable_lockstep set to true.

<use_tcp>true</use_tcp>
<motorSpeedCommandPubTopic>/gazebo/command/motor_speed</motorSpeedCommandPubTopic>
<control_channels>
Expand Down