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Published 20 hours ago • verified publisher icon gazebosim

Fix friction for DART on Ubuntu Focal

Open ctampier opened this issue 3 years ago • 4 comments

Environment

  • OS Version: Ubuntu 20.04 (dockerized)
  • Source or binary build? binary, ignition-fortress

Description

  • Expected behavior: robot should roughly move in circles
  • Actual behavior: robot moves mostly straight, occasionally turns in 90 degrees

Steps to reproduce

  1. run the world found in https://github.com/ignitionrobotics/ign-gazebo/blob/ign-gazebo5/examples/worlds/skid_steer_mecanum.sdf
  2. run the command: ign topic -t "/model/vehicle_blue/cmd_vel" -m ignition.msgs.Twist -p "linear: {x: 0.5}, angular: {z: 0.5}"

Output

bug_gif

ctampier avatar Jun 24 '21 13:06 ctampier

I believe this is an issue with the DART version on Ubuntu Focal. On Ubuntu Bionic we use our fork of DART, which has better friction support. Can you check what libdart version you have installed?

Related issues: https://github.com/ignitionrobotics/ign-physics/issues/49. https://github.com/ignitionrobotics/ign-physics/issues/258

chapulina avatar Jun 24 '21 21:06 chapulina

Thanks for the reply Louise. The version of DART in my container appears to be 6.9.2-2build4. Unfortunately I don't know much about physics engines. Any hint on how it would be possible to overcome this issue?

ctampier avatar Jun 25 '21 06:06 ctampier

Any hint on how it would be possible to overcome this issue?

Some workarounds for now:

  • Using Ubuntu Bionic
  • Compiling our DART fork and all of Ignition from source on Focal

chapulina avatar Jun 25 '21 20:06 chapulina

Any hint on how it would be possible to overcome this issue?

Some workarounds for now:

  • Using Ubuntu Bionic
  • Compiling our DART fork and all of Ignition from source on Focal

one other workaround is using the dartsim PPA

scpeters avatar Apr 18 '22 19:04 scpeters