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Just stumbled over the answer:
Yes, the force applied is indeed related to the relative update rates of the gazebo_ros_force plugin vs simulation step_time as described above.
There are some old tickets about this, but the problem hasn't been solved. The "fix" basically is to let the force plugin run at the same rate as simulation.
See also: https://code.ros.org/trac/ros-pkg/ticket/4050 https://code.ros.org/trac/wg-ros-pkg/ticket/4004 and http://ros-users.122217.n3.nabble.com/Gazebo-Vehicle-Simulation-td774238.html
| | 2 | No.2 Revision |
Just stumbled over the answer:
Yes, the force applied is indeed related to the relative update rates of the gazebo_ros_force plugin vs simulation step_time as described above.
There are some old tickets about this, but the problem hasn't been solved. The "fix" basically is to let the force plugin run at the same rate as simulation.
See also:
https://code.ros.org/trac/ros-pkg/ticket/4050
https://code.ros.org/trac/wg-ros-pkg/ticket/4004
and
http://ros-users.122217.n3.nabble.com/Gazebo-Vehicle-Simulation-td774238.htmlalso:
and
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