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as mentioned, trunk or development branches are not meant to be stable, but if you really want to try and run from gazebo trunk, try compiling against unstable of robot_model and see if that fixes at least past of your problem as stated? hopefully a lot of the new features you might be looking for will be in the latest unstable release simulator_gazebo-1.3.0.

as mentioned, trunk or development branches are not meant to be stable, but if you really want to try and run from gazebo trunk, try compiling against unstable of robot_model and see if that fixes at least past part of your problem as stated? hopefully a lot of the new features you might be looking for will be in the latest unstable release simulator_gazebo-1.3.0.