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Hello.
I'm wondering which unit Gazebo is using when publishing to the topic joint_states. According to the message definition it could be (for the velocity) rad/s or m/s. I would appreciate any hint about that.
BR, Florian
As per ROS REP 103: Standard Units of measure and Coordinate Conventions, units in Gazebo should be specified in meters and kilograms. (...)
https://www.ros.org/reps/rep-0103.html
It seems to depend on the controller:
http://wiki.ros.org/ros_control#Contr...
https://answers.gazebosim.org//questi...
and the joint type being controlled (http://wiki.ros.org/urdf/XML/joint):
<limit> (required only for revolute and prismatic joint)
An element can contain the following attributes:
- lower (optional, defaults to 0)
An attribute specifying the lower joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous.
- upper (optional, defaults to 0)
An attribute specifying the upper joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous.
Thanks. In the model I am working with right now a JointVelocityController (http://wiki.ros.org/robot_mechanism_c...) is used. The type of the joint is 'continuous'.
According to http://wiki.ros.org/urdf/XML/joint a continuous joint is defined as follows: a continuous hinge joint that rotates around the axis and has no upper and lower limits
Each wheel of the mobile robot has a joint of the mentioned type. It is used to apply linear velocity (in terms of revolutions per second).
Asked: 2022-05-17 07:32:51 -0500
Seen: 437 times
Last updated: May 17 '22
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whats the type of joint ?