Problem with unintended moves of robot in Gazebo

Software
1

Hi
I have a strange problem with my (own) robot model in Gazebo. The model and launch files are based on the ones in the tutorials.
After starting Gazeb with the robot in an empty world everything is ok. If I just exchange the world to the turtlebot playground the robot and start Gazebo again the model moves and rotates without sending any commands.

I use Kinetic at Ubuntu 16.4 with Gazebo 9.

Any ideas?

Michael

2

Hello Michael,

I would check mass and inertia properties for all links. Exact values may differ, depending on your robot details.
Second thing to check would be to verify if motor controllers are set and active, otherwise robot will move freely.

Regards,
Łukasz