problem moving robot setting /gazebo/set_link_state [closed]

asked 2012-04-05 01:27:45 -0500

forsand gravatar image

Hi, I am building a simple wheeled robot simulator. I build up a node that @10Hz set wheels speeds using the /gazebo/set_link_state service. The cpp code is the following:

int main(int argc, char** argv){
    ros::init(argc, argv, "my_node");
    ros::NodeHandle n;
    ros::Rate loop_rate(10);
    ros::ServiceClient client;

    std::string leftWheelName   = (std::string)"robot::left_middle_wheel";

    geometry_msgs::Twist twist;
    twist.linear.x  = 0.0;
    twist.linear.y  = 0.0;
    twist.linear.z  = 0.0;
    twist.angular.x = 0.0;
    twist.angular.y = 6.28/10;
    twist.angular.z = 0.0;

    gazebo::LinkState localLinkState;
    gazebo::GetLinkState getLinkState;
    gazebo::SetLinkState setLinkState;

    while (ros::ok()) {

        client = n.serviceClient<gazebo::GetLinkState>("/gazebo/get_link_state");
        getLinkState.request.link_name = leftWheelName;
        getLinkState.request.reference_frame = leftWheelName.c_str();;

        localLinkState = getLinkState.response.link_state;
        localLinkState.twist = twist;
        localLinkState.reference_frame = leftWheelName.c_str();

        client = n.serviceClient<gazebo::SetLinkState>("/gazebo/set_link_state");
        setLinkState.request.link_state = localLinkState;;

    return 0;

This seems to work but the real speed of the wheel is halved. I saw that only during half of the steps the wheel spins, during the other steps is stopped. Can someone help me?

Thank you!

edit retag flag offensive reopen merge delete

Closed for the following reason question is not relevant or outdated by tfoote
close date 2014-05-15 13:12:16