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Can gazebo users use some model plugins at the same time?

asked 2017-12-11 08:07:22 -0600

Viper gravatar image

I have a question.

I tried to use some model plugins at once, but the motion of robots in gazebo was obviously strange.

One of my plugins is subscribing topics of contacts, and the other is adding force, torque and so on.

When I use my plugins independently, the motion of robots wasn't strange.

Does anyone know the solution of this problem?

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Plugins can be used together. If they're conflicting, then they must be trying to do the same thing at the same time. It's hard to tell without more context.

chapulina gravatar imagechapulina ( 2017-12-11 11:58:19 -0600 )edit

Thank you very much. I show you my plugins(model_hop_use.cc, sensor_to_model.cc) on Github. The URL is https://github.com/VicViperT301/for-Jacob Would you tell more information?

Viper gravatar imageViper ( 2017-12-13 07:37:09 -0600 )edit

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answered 2017-12-13 09:56:01 -0600

Looking at your code, I can see both plugins are calling AddRelativeTorque, so that's probably where they're conflicting. Be sure to give each plugin a single responsibility.

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Asked: 2017-12-11 08:07:22 -0600

Seen: 99 times

Last updated: Dec 13 '17