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How can I set the preserveWorldVelocity flag in Gazebo 9 (hopefully through roslaunch and urdf)?

asked 2018-03-07 12:32:29 -0600

raequin gravatar image

updated 2018-03-07 12:35:28 -0600

In order to get rid of unwanted behavior in Gazebo 7, I have installed Gazebo 9 in hopes of setting the preserveWorldVelocity flag. (Is "flag" the proper term?) I'm using roslaunch and xacro to start my simulation. In the robot xacro I have

<gazebo>
  <self_collide>1</self_collide>
</gazebo>

but trying something similar with

<preserveWorldVelocity>1</preserveWorldVelocity>

has no effect. Can you tell me how to set this flag so that using PositionJointInterface does not mean velocities are repeatedly cleared?

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answered 2018-03-20 16:27:27 -0600

raequin gravatar image

The solution is to install the latest version of gazebo_ros_pkgs from source (http://gazebosim.org/tutorials?tut=ro...). With that package _preserveWorldVelocity is true.

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Asked: 2018-03-07 12:32:29 -0600

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Last updated: Mar 20