Does fixed joint have a bug in sdf ?

asked 2018-05-15 06:13:09 -0600

luxiaojun gravatar image

updated 2018-05-15 06:27:31 -0600

I use gazebo7 with ubuntu16.04 to simulate a four wheel robot. If my sdf model has a fixed joint (not for the wheel but for a cemera) like below, the wheel rotation velocity will oscillate, see the picture below the code.

<!-- the zed joint -->
<joint type="fixed" name="zed_hinge">
  <pose>0 0 0 0 0 0</pose>
  <child>stereocamera</child>
  <parent>base_link</parent>
</joint>

image description

If I change the fixed joint to a revolute joint with all other things the same, the result will be much better shown below.

<!-- the zed joint -->
<joint type="revolute" name="zed_hinge">
  <pose>0 0 0 0 0 0</pose>
  <child>stereocamera</child>
  <parent>base_link</parent>
  <axis>
    <xyz>0 0 1</xyz>
  </axis>
</joint>

image description

I want to know, does fixed joint works properly?

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