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plugin in gazebo

asked 2012-10-17 21:26:19 -0600

Nachum

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Hi I am trying to make a plugin in gazebo to control a 1 joint urdf model. I am able to give it tourque by this command -

 this->only_joint_->SetForce(0,(-10*(this->only_joint_->GetAngle(0)));

but if i try giving a different command like-

this->only_joint_->SetForce(0,(-3*this->only_joint_->GetVelocity(0)+10*(this->only_joint_->GetAngle(0)));

it isn't willing to compile. any idea?

Thanks Nachum

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For questions like this, it is very helpful if you add the actual error message you encounter. (You can edit your post to do that)

Stefan Kohlbrecher ( 2012-10-17 21:46:25 -0600 )edit

GetAngle(0) returns a gazebo::math::Angle object, you need to invoke the GetAngle().GetAsRadian() member function as you did in your own answer below.

hsu ( 2012-10-18 05:11:52 -0600 )edit

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answered 2012-10-18 00:03:18 -0600

Nachum

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O.k I just put it in 2 different lines and it works nicely.

this->only_joint_->SetForce(0,-2*this->only_joint_->GetAngle(0).GetAsRadian());
 this->only_joint_->SetForce(0,-2*this->only_joint_->GetVelocity(0));

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for what do i need the zero in GetAngle(0)?

Nachum ( 2012-10-18 00:04:13 -0600 )edit

for some joints such as Hinge2Joint and Universal joints, there are two states per joint.

hsu ( 2012-10-18 05:08:11 -0600 )edit

what are the two states?

Nachum ( 2012-10-20 22:33:18 -0600 )edit

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Asked: 2012-10-17 21:26:19 -0600

Seen: 415 times

Last updated: Oct 18 '12

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