{"action":"created","issue":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/3258","repository_url":"https://api.github.com/repos/RobotLocomotion/drake","labels_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/3258/labels{/name}","comments_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/3258/comments","events_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/3258/events","html_url":"https://github.com/RobotLocomotion/drake/issues/3258","id":173269457,"number":3258,"title":"Single Car Drake/ROS Demo Velocity > 1m/s Crash","user":{"login":"wilkosch","id":15733776,"avatar_url":"https://avatars.githubusercontent.com/u/15733776?v=3","gravatar_id":"","url":"https://api.github.com/users/wilkosch","html_url":"https://github.com/wilkosch","followers_url":"https://api.github.com/users/wilkosch/followers","following_url":"https://api.github.com/users/wilkosch/following{/other_user}","gists_url":"https://api.github.com/users/wilkosch/gists{/gist_id}","starred_url":"https://api.github.com/users/wilkosch/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/wilkosch/subscriptions","organizations_url":"https://api.github.com/users/wilkosch/orgs","repos_url":"https://api.github.com/users/wilkosch/repos","events_url":"https://api.github.com/users/wilkosch/events{/privacy}","received_events_url":"https://api.github.com/users/wilkosch/received_events","type":"User","site_admin":false},"labels":[{"id":410893579,"url":"https://api.github.com/repos/RobotLocomotion/drake/labels/configuration:%20ros","name":"configuration: ros","color":"fbca04","default":false},{"id":77798003,"url":"https://api.github.com/repos/RobotLocomotion/drake/labels/priority:%20high","name":"priority: high","color":"b60205","default":false},{"id":379936650,"url":"https://api.github.com/repos/RobotLocomotion/drake/labels/team:%20cars","name":"team: cars","color":"0052cc","default":false},{"id":77074782,"url":"https://api.github.com/repos/RobotLocomotion/drake/labels/type:%20bug","name":"type: bug","color":"0e8a16","default":false}],"state":"closed","locked":false,"assignee":{"login":"liangfok","id":1388098,"avatar_url":"https://avatars.githubusercontent.com/u/1388098?v=3","gravatar_id":"","url":"https://api.github.com/users/liangfok","html_url":"https://github.com/liangfok","followers_url":"https://api.github.com/users/liangfok/followers","following_url":"https://api.github.com/users/liangfok/following{/other_user}","gists_url":"https://api.github.com/users/liangfok/gists{/gist_id}","starred_url":"https://api.github.com/users/liangfok/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/liangfok/subscriptions","organizations_url":"https://api.github.com/users/liangfok/orgs","repos_url":"https://api.github.com/users/liangfok/repos","events_url":"https://api.github.com/users/liangfok/events{/privacy}","received_events_url":"https://api.github.com/users/liangfok/received_events","type":"User","site_admin":false},"assignees":[{"login":"liangfok","id":1388098,"avatar_url":"https://avatars.githubusercontent.com/u/1388098?v=3","gravatar_id":"","url":"https://api.github.com/users/liangfok","html_url":"https://github.com/liangfok","followers_url":"https://api.github.com/users/liangfok/followers","following_url":"https://api.github.com/users/liangfok/following{/other_user}","gists_url":"https://api.github.com/users/liangfok/gists{/gist_id}","starred_url":"https://api.github.com/users/liangfok/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/liangfok/subscriptions","organizations_url":"https://api.github.com/users/liangfok/orgs","repos_url":"https://api.github.com/users/liangfok/repos","events_url":"https://api.github.com/users/liangfok/events{/privacy}","received_events_url":"https://api.github.com/users/liangfok/received_events","type":"User","site_admin":false},{"login":"edrumwri","id":2224335,"avatar_url":"https://avatars.githubusercontent.com/u/2224335?v=3","gravatar_id":"","url":"https://api.github.com/users/edrumwri","html_url":"https://github.com/edrumwri","followers_url":"https://api.github.com/users/edrumwri/followers","following_url":"https://api.github.com/users/edrumwri/following{/other_user}","gists_url":"https://api.github.com/users/edrumwri/gists{/gist_id}","starred_url":"https://api.github.com/users/edrumwri/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/edrumwri/subscriptions","organizations_url":"https://api.github.com/users/edrumwri/orgs","repos_url":"https://api.github.com/users/edrumwri/repos","events_url":"https://api.github.com/users/edrumwri/events{/privacy}","received_events_url":"https://api.github.com/users/edrumwri/received_events","type":"User","site_admin":false},{"login":"sherm1","id":4088016,"avatar_url":"https://avatars.githubusercontent.com/u/4088016?v=3","gravatar_id":"","url":"https://api.github.com/users/sherm1","html_url":"https://github.com/sherm1","followers_url":"https://api.github.com/users/sherm1/followers","following_url":"https://api.github.com/users/sherm1/following{/other_user}","gists_url":"https://api.github.com/users/sherm1/gists{/gist_id}","starred_url":"https://api.github.com/users/sherm1/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/sherm1/subscriptions","organizations_url":"https://api.github.com/users/sherm1/orgs","repos_url":"https://api.github.com/users/sherm1/repos","events_url":"https://api.github.com/users/sherm1/events{/privacy}","received_events_url":"https://api.github.com/users/sherm1/received_events","type":"User","site_admin":false},{"login":"RussTedrake","id":6442292,"avatar_url":"https://avatars.githubusercontent.com/u/6442292?v=3","gravatar_id":"","url":"https://api.github.com/users/RussTedrake","html_url":"https://github.com/RussTedrake","followers_url":"https://api.github.com/users/RussTedrake/followers","following_url":"https://api.github.com/users/RussTedrake/following{/other_user}","gists_url":"https://api.github.com/users/RussTedrake/gists{/gist_id}","starred_url":"https://api.github.com/users/RussTedrake/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/RussTedrake/subscriptions","organizations_url":"https://api.github.com/users/RussTedrake/orgs","repos_url":"https://api.github.com/users/RussTedrake/repos","events_url":"https://api.github.com/users/RussTedrake/events{/privacy}","received_events_url":"https://api.github.com/users/RussTedrake/received_events","type":"User","site_admin":false}],"milestone":null,"comments":37,"created_at":"2016-08-25T17:56:08Z","updated_at":"2016-11-03T16:46:06Z","closed_at":"2016-11-03T16:38:13Z","body":"# Problem Definition\n\nIrregular behaviour (vehicle rolls over and falls through floor) for velocities > 1m/s\nIssue is referenced in #2606.\n# Replication Procedure\n\n`$ roslaunch drake_cars_examples single_car_in_stata_garage.launch`\n`$ rosrun ackermann_drive_teleop ackermann_drive_keyop.py 5.0 0.7`\nStart driving around and experience behaviour.\n# Tested so  far\n- Increase thickness of floor in both sdf/urdf to 3m.\n  `drake_catkin_workspace/src/drake_ros_integration/drake_cars_examples/models/stata_garage_p1.urdf`\n  `drake_catkin_workspace/src/drake/drake/examples/Cars/models/stata_garage_p1.sdf`  (Car does not fall through floor anymore, but still crashes)\n- Parameter in [SetRigidBodySystemParameters.](https://github.com/RobotLocomotion/drake/blob/73e93966f07b9507a3f8cd8166ce40d58a26deee/drake/examples/Cars/car_simulation.cc#L100) (Increasing both stiffness and damping has helped but it still is uncontrollable and either starts spinning / rolling or slowly sinking into the floor.)\n- The throttle and steering gains. (No improvement to crashing. The p-gains seem to be too low though, especially for steering.)\n  ![screenshot from 2016-08-25 17 51 54](https://cloud.githubusercontent.com/assets/15733776/17979986/419273c2-6acb-11e6-8807-17118965c085.png)\n"},"comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/comments/258201252","html_url":"https://github.com/RobotLocomotion/drake/issues/3258#issuecomment-258201252","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/3258","id":258201252,"user":{"login":"sherm1","id":4088016,"avatar_url":"https://avatars.githubusercontent.com/u/4088016?v=3","gravatar_id":"","url":"https://api.github.com/users/sherm1","html_url":"https://github.com/sherm1","followers_url":"https://api.github.com/users/sherm1/followers","following_url":"https://api.github.com/users/sherm1/following{/other_user}","gists_url":"https://api.github.com/users/sherm1/gists{/gist_id}","starred_url":"https://api.github.com/users/sherm1/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/sherm1/subscriptions","organizations_url":"https://api.github.com/users/sherm1/orgs","repos_url":"https://api.github.com/users/sherm1/repos","events_url":"https://api.github.com/users/sherm1/events{/privacy}","received_events_url":"https://api.github.com/users/sherm1/received_events","type":"User","site_admin":false},"created_at":"2016-11-03T16:46:06Z","updated_at":"2016-11-03T16:46:06Z","body":"Yeah, definitely makes sense for propellers! \r\n\r\nAngular momentum conservation is just an accuracy consideration here -- if the ODEs are integrated accurately it will be conserved. Best handled by @edrumwri's flashy new error-controlled integrator! But it won't choose small steps due to wheel rotation because those state variables will appear so harmless: vdot=0, v=constant, q=linear (roughly)."}}
{"actor":{"display_login":"sherm1"}}