GetVelocity returns absurd values in Gazebo 7 and ROS Kinetic

asked 2018-02-01 01:38:24 -0600

mark_vision gravatar image

updated 2018-02-01 09:16:30 -0600

Hi all, after the upgrade to ROS Kinetic and Gazebo 7 my quadruped robot (hyq, URDF available here) returns unrealistic values for the joint velocities.

When the robot is static:

when the robot is static

I see a velocity of 0.68 rad/s (or deg/s the documentation is unclear :( whereas the exact same code (a copy of this one) correctly returns almost zero values in Gazebo 2.2

Any known issue about this?

Attached is the output of gz model -m hyq -i

Thanks!

UPDATE

The problem occurs in Gazebo8 as well :(

Maybe is something related to the robot model?

UPDATE 2

I somewhat mitigated the problem by setting the <maxVel> tag to 1.

However, when the joints are perfectly static, the velocity is still around 0.004 rad/s

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