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Using joint->SetParam for velocities has no effect in Gazebo7

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I migrated my old differential kinematic plugin from Gazebo2 to Gazebo7. While it didn't worked out of the box, I had a look at on the following posts which recommend to use `SetParam` for joints to set the proper ODE parameters: - [gazebo_ros_diff_drive.cpp](http://docs.ros.org/jade/api/gazebo_plugins/html/gazebo__ros__diff__drive_8cpp_source.html) - [SetMaxForce deprecated in gazebo 5.0](http://answers.gazebosim.org/question/8458/setmaxforce-deprecated-in-gazebo-50/) - [ODEJoint.cc](https://bitbucket.org/osrf/gazebo/src/a29d8dabed9a14fb6bafdcd31c84b160c00b127c/gazebo/physics/ode/ODEJoint.cc?at=gazebo7_7.0.0&fileviewer=file-view-default) So I changed to call in my `OnUpdate` function from: this->leftWheel->SetMaxForce(2, 2.4); // Nm this->rightWheel->SetMaxForce(2, 2.4); // Nm this->leftWheel->SetVelocity(2, someLeftVel ); // rad/s this->rightWheel->SetVelocity(2, someRightVel ); // rad/s to this->rightWheel->SetParam("fmax",2 , 2.4); this->leftWheel->SetParam("fmax",2 , 2.4); this->leftWheel->SetParam("vel", 2, w_l ); this->rightWheel->SetParam("vel", 2, w_l ); But the vehicle does **almost** nothing. Very very slowly it moves to the desired direction if steered. By the away, what is the difference between `fmax` and `max_force` when using `SetParam`? **Testing the SetParam function:** Additionally, the output of the following lines: std::cout << " +++++----- " << this->leftWheel->GetParam("fmax",2) << "\n"; std::cout << " +++++----- " << this->leftWheel->GetParam("max_force",2) << "\n"; this->leftWheel->SetParam("max_force",2 , 100); this->leftWheel->SetParam("fmax",2 , 100); std::cout << " --------- " << this->leftWheel->GetParam("fmax",2) << "\n"; std::cout << " --------- " << this->leftWheel->GetParam("max_force",2) << "\n"; produce the output ... +++++----- 0 +++++----- 0 --------- 0 --------- 0 ... So actually, the `SetParam` function does nothing. Am I missing something here?

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