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Why does the spring joint plugin not work?

asked 2018-12-06 08:40:41 -0600

kumpakri gravatar image

I followed the example here and created a model plugin, that at each update call this function:

  void SpringJointPlugin::OnUpdate()
  {
    this->current_angle = this->joint_ptr_->GetAngle(0).Radian();
    this->joint_ptr_->SetForce( 0, (this->rest_angle-this->current_angle)*this->stiffness);
  }

the joint_ptr_ is of physics::JointPtr format. When I try to build this plugin, I get error

SpringJointPlugin.cc:80:45: error: ‘class gazebo::physics::Joint’ has no member named ‘GetAngle’; did you mean ‘GetForce’?
     this->current_angle = this->joint_ptr_->GetAngle(0).Radian();
                                             ^~~~~~~~
                                             GetForce

When I look into the documentation, this method is listed. When I use the the GetForce method as suggested, or any other function listed in the documentation, it still gives me errors.

Why and how to fix this?

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answered 2018-12-06 09:27:52 -0600

You're looking at the documentation for Gazebo 2, but I suspect you're not using that version. Take a look at the migration guide, the new function from Gazebo 8 is Joint::Position.

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Comments

Is there no up-to-date documentation for Gazebo 9?

kumpakri gravatar imagekumpakri ( 2018-12-10 04:06:51 -0600 )edit
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Asked: 2018-12-06 08:40:41 -0600

Seen: 74 times

Last updated: Dec 06