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Which unit of measurement does SetForce() use?

asked 2011-10-03 04:28:52 -0600

erpa gravatar image

updated 2014-01-28 17:10:28 -0600

ngrennan gravatar image

Hello evryone, I have a model of a quadrotor in matlab and to stabilize it at a fixed height I need a thrust of 6,3 N. I also have a simple model of the same quadrotor in gazebo controlled through a PD and it appears that the force applyed to stabilize it is 62.7, is it possible that the force is computed in 100*mN ??

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answered 2011-10-03 05:40:57 -0600

joq gravatar image

There is a ROS standard for that. It should be Newtons.

Perhaps that model is not in compliance with REP-0103?

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didn't know about ROS standard but it seems that the model is still compliant with REP-0103.
erpa gravatar image erpa  ( 2011-10-03 20:10:16 -0600 )edit

answered 2011-10-06 04:34:36 -0600

erpa gravatar image

I menaged to solve the problem: the frequency of the controller was lower then the stepTime of the .world file thus the controller needed to apply a higher force in order to keep the quadrotor floating.

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Asked: 2011-10-03 04:28:52 -0600

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Last updated: Oct 06 '11