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How to bypass gazebo physics engine?

asked 2016-06-10 10:26:47 -0500

Frank Evers gravatar image

I'm working on an implementing a truck + trailer entity in gazebo. I have a state space model which I want to use to govern the physics of the truck + trailer entity by making a modelplugin . The state of this model contains position, velocity, etc.

I don't want the gazebo physics engine to influence the behavior of my entity, in order to do so I use SetLinkWorldPose() to update the position (which I calculate using my model) of the entity every gazebo iteration i.e. teleporting the entity every iteration to a new position. The problem now is that I lose the velocity information of my entity when I observe it in Gazebo with some sensor, which makes sense because the velocity of the entity is zero in between iterations. But I don't want this.

So my question is. How do I bypass the gazebo physics engine whiteout losing the velocity information of my model?

Thank!

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My intuition is that you can't. But since you're doing all the math for updating position, surely *you* can calculate the velocity. Yes, the normal sensors won't work, but that seems like a reasonable consequence of what you're doing

Peter Mitrano gravatar imagePeter Mitrano ( 2016-06-14 10:43:56 -0500 )edit

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answered 2017-09-09 13:32:40 -0500

tve gravatar image

As far as I can tell the better way is to use the minimum of the physics engine that makes sense. For example, you probably want it to handle gravity and collision with the ground so your truck and trailer don't float down into -infinity. Then you can add additional forces you calculate on top of that.

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Asked: 2016-06-10 10:26:47 -0500

Seen: 1,113 times

Last updated: Sep 09