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Problem Definition\r\nIrregular behaviour (vehicle rolls over and falls through floor) for velocities > 1m/s\r\nIssue is referenced in #2606.\r\n\r\n# Replication Procedure\r\n`$ roslaunch drake_cars_examples single_car_in_stata_garage.launch `\r\n`$ rosrun ackermann_drive_teleop ackermann_drive_keyop.py 5.0 0.7`\r\nStart driving around and experience behaviour.\r\n\r\n# Tested so  far\r\n- Increase thickness of floor in both sdf/urdf to 3m.\r\n`drake_catkin_workspace/src/drake_ros_integration/drake_cars_examples/models/stata_garage_p1.urdf`\r\n`drake_catkin_workspace/src/drake/drake/examples/Cars/models/stata_garage_p1.sdf`  (Car does not fall through floor anymore, but still crashes)\r\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.)\r\n- The throttle and steering gains. (No improvement to crashing. The p-gains seem to be too low though, especially for steering.)\r\n![screenshot from 2016-08-25 17 51 54](https://cloud.githubusercontent.com/assets/15733776/17979986/419273c2-6acb-11e6-8807-17118965c085.png)\r\n\r\n\r\n"},"comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/comments/256916843","html_url":"https://github.com/RobotLocomotion/drake/issues/3258#issuecomment-256916843","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/3258","id":256916843,"user":{"login":"amcastro-tri","id":17601461,"avatar_url":"https://avatars.githubusercontent.com/u/17601461?v=3","gravatar_id":"","url":"https://api.github.com/users/amcastro-tri","html_url":"https://github.com/amcastro-tri","followers_url":"https://api.github.com/users/amcastro-tri/followers","following_url":"https://api.github.com/users/amcastro-tri/following{/other_user}","gists_url":"https://api.github.com/users/amcastro-tri/gists{/gist_id}","starred_url":"https://api.github.com/users/amcastro-tri/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/amcastro-tri/subscriptions","organizations_url":"https://api.github.com/users/amcastro-tri/orgs","repos_url":"https://api.github.com/users/amcastro-tri/repos","events_url":"https://api.github.com/users/amcastro-tri/events{/privacy}","received_events_url":"https://api.github.com/users/amcastro-tri/received_events","type":"User","site_admin":false},"created_at":"2016-10-28T13:13:59Z","updated_at":"2016-10-28T13:13:59Z","body":"This is so great! I am glad you are working on setting up this case with the right physical quantities corresponding to reality. Probably car and tires masses and sizes can be obtained from their corresponding manufacturer's specs?\r\nIt is reasonable to expect a change in time step when changing the physical properties. As a measure of what is needed to run a case like this? how many time steps does the simulation run for the car to advance a distance equal to its length? this is a very good measure in a wide variety of simulators (I used that routinely for the simulation of the fluid mechanics around moving ships).\r\n\r\nAlso good job figuring out the controllers' constants and the right conversion factors! \r\n\r\n"}}
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