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Hi, the service call you made applied the wrench on the correct body "car::left_front_wheel" correctly as you described above.

The warning applies only if a "reference_frame" different than the "body_name" is supplied. For example, if a "reference_frame" is added to your service call that is different than "car::left_front_wheel":

rosservice call gazebo/apply_body_wrench '{reference_frame: "car::base_link", body_name: "car::left_front_wheel" , wrench: { force: { x: 0.1, y: 0, z: 0 } , torque: { x: 0.0, y: 0 , z: 0 } }, start_time: 10000000000, duration: 1000000000 }'

The service call will still apply the specified wrench to "car::left_front_wheel" correctly, the warning pertains to the reference frame of the wrench is now erroneously located at "car::left_front_wheel", not the desired "car::base_link".

hope this makes sense. Anyways, I should have a patch for this soon.

Hi, the service call you made applied the wrench on the correct body "car::left_front_wheel" correctly as you described above.

The warning applies only if a "reference_frame" different than the "body_name" is supplied. For example, if a "reference_frame" is added to your service call that is different than "car::left_front_wheel":

rosservice call gazebo/apply_body_wrench '{reference_frame: "car::base_link", body_name: "car::left_front_wheel" , wrench: { force: { x: 0.1, y: 0, z: 0 } , torque: { x: 0.0, y: 0 , z: 0 } }, start_time: 10000000000, duration: 1000000000 }'

The service call will still apply the specified wrench to "car::left_front_wheel" correctly, the warning pertains to the reference frame of the wrench is now erroneously located at "car::left_front_wheel", not the desired "car::base_link".

hope this makes sense. Anyways, I should have a patch for this soon.sense.