gazebo仿真的时候转向怎么控制的顺滑

[小丑汪]

我在进行铲车仿真的时候，控制转向角的时候模型反应比较慢，置0的时候不能回到0位，转向运动的时候模型发生抖动。各位大佬看看是什么原因

<!-- motors and transmissions for the two rear wheels -->
  <transmission name="tran1">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="back_right_wheel2base_link">
      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor1">
      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>  

  <transmission name="tran2">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="back_left_wheel2base_link">
      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor2">
      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>  

  <!-- EPS and transmissions for the front steering -->
  <transmission name="tran3">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="steering_hinge2base_link">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="eps">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>

  <transmission name="tran4">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="front_right_wheel2steering_hinge">
      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor3">
      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>  

  <transmission name="tran5">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="front_left_wheel2steering_hinge">
      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor4">
      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission> 


  <!-- Friction Parametres -->

  <gazebo reference="back_right_wheel">
    <mu1>2.0</mu1>
    <mu2>2.0</mu2>
    <kp>10000000</kp>
    <kd>1</kd>
  </gazebo>  

  <gazebo reference="back_left_wheel">
    <mu1>2.0</mu1>
    <mu2>2.0</mu2>
    <kp>10000000</kp>
    <kd>1</kd>         
  </gazebo>   

  <gazebo reference="front_right_wheel">
    <mu1>2.0</mu1>
    <mu2>2.0</mu2>
    <kp>10000000</kp>
    <kd>1</kd>         
  </gazebo> 

  <gazebo reference="front_left_wheel">
    <mu1>2.0</mu1>
    <mu2>2.0</mu2>
    <kp>10000000</kp>
    <kd>1</kd>           
  </gazebo>   

控制的ymal文件

xul307a:
# controls the rear two tires based on individual motors
  # Publish all joint states -----------------------------------
  joint_state_controller:
    type: joint_state_controller/JointStateController
    publish_rate: 50  
  back_right_velocity_controller:
    type: velocity_controllers/JointVelocityController
    joint: back_right_wheel2base_link
    pid: {p: 100.0, i: 0.01, d: 10.0}
  back_left_velocity_controller:
    type: velocity_controllers/JointVelocityController
    joint: back_left_wheel2base_link
    pid: {p: 100.0, i: 0.01, d: 10.0}
  steering_position_controller:
    type: effort_controllers/JointPositionController
    joint: steering_hinge2base_link
    pid: {p: 25000, i: 0, d: 10.0}
  front_right_velocity_controller:
    type: velocity_controllers/JointVelocityController
    joint: front_right_wheel2steering_hinge
    pid: {p: 100.0, i: 0.01, d: 10.0}
  front_left_velocity_controller:
    type: velocity_controllers/JointVelocityController
    joint: front_left_wheel2steering_hinge
    pid: {p: 100.0, i: 0.01, d: 10.0}    

不能上传视频，我传到b站上去了
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[吴凯荣]

@小丑汪 仿真的FPS很低，先排除视觉效果的影响。不过RTF还蛮高的，能到1