Search Unity

  1. Unity support for visionOS is now available. Learn more in our blog post.
    Dismiss Notice

The robot flies away when receiving joint information or odom

Discussion in 'Robotics' started by jabrail_chumakov, Jun 5, 2023.

  1. jabrail_chumakov

    jabrail_chumakov

    Joined:
    Feb 17, 2020
    Posts:
    17
    Hey everyone,

    I'm having trouble with an Articulation Body component when receiving messages from ROS. When there's no connection or messages, my robot remains stationary. However, when connected to ROS and receiving messages, applying values to my Articulation Body's Target component causes my robot to fly upwards, even though I'm only modifying the leg joints, not the robot's position. I've made sure to disable gravity, and changing gravity values in "Project Settings- Physics" doesn't resolve the issue. Has anyone experienced this problem? What's the best way to handle it?

    P.S.
    Although I could sync the "Z"-axis position from ROS to the "Y"-axis position in Unity to readjust my robot's position each frame, I don't think it's a suitable solution for my situation.