Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

plugin in gazebo

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

Nachum

208 ●20 ●27 ●35

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

edit retag flag offensive close merge delete

Comments

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

add a comment

1 Answer

Sort by » oldest newest most voted

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

Nachum

208 ●20 ●27 ●35

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));

edit flag offensive delete link

Comments

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

add a comment

Question Tools

Stats

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

Seen: 413 times

Last updated: Oct 18 '12

plugin in gazebo edit

Comments

1 Answer

Comments

Question Tools

Stats

Related questions

plugin in gazebo