From 6f25bbacb18091090c5f6d84d50278a7d05dcf70 Mon Sep 17 00:00:00 2001
From: Kevin <kevin.penner@uni-bielefeld.de>
Date: Wed, 3 Jul 2019 08:33:34 +0200
Subject: [PATCH 1/2] changed Amiro correct Motor Torque

---
 amiro_description/urdf/amiro.gazebo | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/amiro_description/urdf/amiro.gazebo b/amiro_description/urdf/amiro.gazebo
index 6eb0ead..fc1c0cf 100644
--- a/amiro_description/urdf/amiro.gazebo
+++ b/amiro_description/urdf/amiro.gazebo
@@ -28,7 +28,8 @@
       <wheelSeparation>${wheel_sep}</wheelSeparation> <!-- Meter -->
       <wheelDiameter>${wheel_dia}</wheelDiameter> <!-- Meter -->
       <wheelAcceleration>0.0</wheelAcceleration> <!-- rad/s^2 -->
-      <wheelTorque>5.0</wheelTorque> <!-- Newton -->
+      <wheelTorque>50.0</wheelTorque> <!-- Newton - For Faulhaber Serie 2619 (1:22 gear reduction) with short time duty torque (stdq) = 75mNm, 
+      shaft diameter (sd) = 3mm and 2 motors -> stdq/sd * 2 = 50N -->
       <updateRate>${update_rate}</updateRate>
       <odometrySource>world</odometrySource> <!-- Use "encoder" or "world" as source -->
 

From 106c7c2bc83c1a7a470edc40d4dc50326277435d Mon Sep 17 00:00:00 2001
From: Kevin <kevin.penner@uni-bielefeld.de>
Date: Wed, 3 Jul 2019 08:46:44 +0200
Subject: [PATCH 2/2] Fix Drift, when robot is not moving

---
 amiro_gazebo/worlds/amiro.world                  | 14 ++++++++++++++
 amiro_gazebo/worlds/assembly_line.world          | 15 ++++++++++++++-
 amiro_gazebo/worlds/assembly_line_project.world  | 15 ++++++++++++++-
 amiro_gazebo/worlds/desk.world                   | 15 ++++++++++++++-
 amiro_gazebo/worlds/empty_slow.world             |  9 +++++----
 amiro_gazebo/worlds/watchmen_route_project.world | 15 ++++++++++++++-
 6 files changed, 75 insertions(+), 8 deletions(-)

diff --git a/amiro_gazebo/worlds/amiro.world b/amiro_gazebo/worlds/amiro.world
index ccbbfd6..407adbc 100644
--- a/amiro_gazebo/worlds/amiro.world
+++ b/amiro_gazebo/worlds/amiro.world
@@ -20,5 +20,19 @@
       </camera>
     </gui>
 
+    <physics name="ode_1000iters" type="ode" default="true">
+      <default>true</default>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <real_time_update_rate>1000</real_time_update_rate>
+      <ode>
+        <solver>
+          <type>quick</type>
+          <!-- Fix Drift, when robot is not moving -->
+          <iters>1000</iters>
+        </solver>
+      </ode>
+    </physics>
+
   </world>
 </sdf>
diff --git a/amiro_gazebo/worlds/assembly_line.world b/amiro_gazebo/worlds/assembly_line.world
index 5ed6deb..e31db96 100644
--- a/amiro_gazebo/worlds/assembly_line.world
+++ b/amiro_gazebo/worlds/assembly_line.world
@@ -21,10 +21,23 @@
     <gravity>0 0 -9.8</gravity>
     <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
     <atmosphere type='adiabatic'/>
-    <physics name='default_physics' default='0' type='ode'>
+    <!-- <physics name='default_physics' default='0' type='ode'>
       <max_step_size>0.001</max_step_size>
       <real_time_factor>1</real_time_factor>
       <real_time_update_rate>1000</real_time_update_rate>
+    </physics> -->
+    <physics name="ode_1000iters" type="ode" default="true">
+      <default>true</default>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <real_time_update_rate>1000</real_time_update_rate>
+      <ode>
+        <solver>
+          <type>quick</type>
+          <!-- Fix Drift, when robot is not moving -->
+          <iters>1000</iters>
+        </solver>
+      </ode>
     </physics>
     <scene>
       <ambient>0.4 0.4 0.4 1</ambient>
diff --git a/amiro_gazebo/worlds/assembly_line_project.world b/amiro_gazebo/worlds/assembly_line_project.world
index cfc29c9..421b77b 100644
--- a/amiro_gazebo/worlds/assembly_line_project.world
+++ b/amiro_gazebo/worlds/assembly_line_project.world
@@ -21,10 +21,23 @@
     <gravity>0 0 -9.8</gravity>
     <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
     <atmosphere type='adiabatic'/>
-    <physics name='default_physics' default='0' type='ode'>
+    <!-- <physics name='default_physics' default='0' type='ode'>
       <max_step_size>0.001</max_step_size>
       <real_time_factor>1</real_time_factor>
       <real_time_update_rate>1000</real_time_update_rate>
+    </physics> -->
+    <physics name="ode_1000iters" type="ode" default="true">
+      <default>true</default>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <real_time_update_rate>1000</real_time_update_rate>
+      <ode>
+        <solver>
+          <type>quick</type>
+          <!-- Fix Drift, when robot is not moving -->
+          <iters>1000</iters>
+        </solver>
+      </ode>
     </physics>
     <scene>
       <ambient>0.4 0.4 0.4 1</ambient>
diff --git a/amiro_gazebo/worlds/desk.world b/amiro_gazebo/worlds/desk.world
index 1f24ae0..7077f0a 100644
--- a/amiro_gazebo/worlds/desk.world
+++ b/amiro_gazebo/worlds/desk.world
@@ -64,10 +64,23 @@
     <gravity>0 0 -9.8</gravity>
     <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
     <atmosphere type='adiabatic'/>
-    <physics name='default_physics' default='0' type='ode'>
+    <!-- <physics name='default_physics' default='0' type='ode'>
       <max_step_size>0.001</max_step_size>
       <real_time_factor>1</real_time_factor>
       <real_time_update_rate>100</real_time_update_rate>
+    </physics> -->
+    <physics name="ode_1000iters" type="ode" default="true">
+      <default>true</default>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <real_time_update_rate>100</real_time_update_rate>
+      <ode>
+        <solver>
+          <type>quick</type>
+          <!-- Fix Drift, when robot is not moving -->
+          <iters>1000</iters>
+        </solver>
+      </ode>
     </physics>
     <scene>
       <ambient>0.4 0.4 0.4 1</ambient>
diff --git a/amiro_gazebo/worlds/empty_slow.world b/amiro_gazebo/worlds/empty_slow.world
index 2d3aac4..7bad138 100644
--- a/amiro_gazebo/worlds/empty_slow.world
+++ b/amiro_gazebo/worlds/empty_slow.world
@@ -10,7 +10,7 @@
       <uri>model://ground_plane</uri>
     </include>
     
-    <physics name="ode_70iters" type="ode">
+    <!-- <physics name="ode_70iters" type="ode">
       <real_time_update_rate>1500</real_time_update_rate>
       <ode>
         <solver>
@@ -18,18 +18,19 @@
           <iters>70</iters>
         </solver>
       </ode>
-    </physics>
+    </physics> -->
 
-    <physics name="ode_200iters" type="ode" default="true">
+    <physics name="ode_1000iters" type="ode" default="true">
       <default>true</default>
       <real_time_update_rate>100</real_time_update_rate>
       <ode>
         <solver>
           <type>quick</type>
-          <iters>200</iters>
+          <iters>1000</iters>
         </solver>
       </ode>
     </physics>
+    
 
   </world>
 </sdf>
diff --git a/amiro_gazebo/worlds/watchmen_route_project.world b/amiro_gazebo/worlds/watchmen_route_project.world
index e2722d1..ecbb210 100644
--- a/amiro_gazebo/worlds/watchmen_route_project.world
+++ b/amiro_gazebo/worlds/watchmen_route_project.world
@@ -21,10 +21,23 @@
     <gravity>0 0 -9.8</gravity>
     <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
     <atmosphere type='adiabatic'/>
-    <physics name='default_physics' default='0' type='ode'>
+    <!-- <physics name='default_physics' default='0' type='ode'>
       <max_step_size>0.001</max_step_size>
       <real_time_factor>1</real_time_factor>
       <real_time_update_rate>1000</real_time_update_rate>
+    </physics> -->
+    <physics name="ode_1000iters" type="ode" default="true">
+      <default>true</default>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <real_time_update_rate>1000</real_time_update_rate>
+      <ode>
+        <solver>
+          <type>quick</type>
+          <!-- Fix Drift, when robot is not moving -->
+          <iters>1000</iters>
+        </solver>
+      </ode>
     </physics>
     <scene>
       <ambient>0.4 0.4 0.4 1</ambient>