gazebo joint effort accumulation

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

ChickenSoup
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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

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

Stefan Kohlbrecher

24361 ●173 ●299 ●444 https://www.energy-rob...

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.

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

Adolfo Rodriguez T

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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.

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

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

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