Ask Your Question
0

gazebo joint effort accumulation

asked 2014-04-17 19:04:04 -0500

ChickenSoup gravatar image

Hi all,

According to this all active efforts applied to the same joint are cumulative.

However, why don't I see the effort field of joint_states message, which is published by controller_manager, gets accumulated ? It only shows the last applied effort.

I use the following command.

rosservice call /gazebo/apply_joint_effort '{joint_name: "joint1", effort: 1.0, start_time: 0, duration: -1}'

I use ROS Hydro with Gazebo 1.9

Thank you

edit retag flag offensive close merge delete

2 Answers

Sort by ยป oldest newest most voted
1

answered 2014-04-28 23:13:46 -0500

It appears that this issue is known since quite some time, see Bitbucket Gazebo Ticket 878 and tickets referenced therein. Your specific issue appears to be tracked already in issue 485.

edit flag offensive delete link more
1

answered 2014-04-28 23:01:52 -0500

Adolfo Rodriguez T gravatar image

Referring to the doc of gazebo::physics::Joint::SetForce(...)

Force is additive (multiple calls to SetForce to the same joint in the same time step will accumulate forces on that Joint).

Notice the same time step part. If you're using te ROS service API multiple times, you won't see the additive effect, as different service requests are likely processed in different timesteps.

edit flag offensive delete link more

Comments

Also, you'll probably get faster answers to Gazebo-specific questions if you ask them in answers.gazebosim.org

Adolfo Rodriguez T gravatar imageAdolfo Rodriguez T ( 2014-04-28 23:03:55 -0500 )edit

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower

Stats

Asked: 2014-04-17 19:04:04 -0500

Seen: 697 times

Last updated: Apr 28 '14