As mentioned in linked thread I am experiencing problems with my robot ‘jumping’ occasionally and have investigated a bit.
As per suggestion by Luc I have set the gzbridgesettings in my exc file but I can’t tell if or how much that helped. From the Gazebo forum I’ve found instead that it may be related to my MOI’s have 2+ orders of magnitude difference ( Answer by Hsu at http://answers.gazebosim.org/question/12327/inertia-matrices-and-double-precision-ode/)
He is talking about a need for more inner iterations.
This I have understood to be related to the various settings for the physics solver ( http://gazebosim.org/tutorials?tut=preset_manager&cat=physics ) which can have both a solver_type=quick
with iters
ranging from 70 to 500, as well as a demanding yet more precise solver_type=world
( http://answers.gazebosim.org/question/232/gazebo-physics-solver-type-quick-vs-world/ )
Does low inner iterations appear as a reasonable culprit for my issues with jerky motion?
If so, I have not been able to find any documentation for how to properly set either iters
or solver type
through NRP so I would appreciate any hints?
Thanks in advance
Continuing the discussion from NRP simulation appears non-deterministic?: