Gazebo outputs the same value two times

asked 2019-01-24 22:05:24 -0600

jwchang gravatar image

updated 2019-01-24 22:09:28 -0600

I apply some torques to the joint of a robot arm and output the current time, angle, velocity and torque value to terminal everytime when the simulation is updated.

Every two lines are the same. Why? Can I let it just display once? Below are my terminal and code snippet. image description

namespace gazebo
  class ModelPush : public ModelPlugin
    private: int count = 0;
    private: float tor[10] = {1,2,3,4,5,6,7,8,9,10};
    private: physics::ModelPtr model;
    private: physics::JointPtr joint;
    private: event::ConnectionPtr updateConnection;

    public: void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf)
      this->model = _parent;
      this->joint = this->model->GetJoint("arm_shoulder_pan_joint");
      this->updateConnection = event::Events::ConnectWorldUpdateBegin(
std::bind(&ModelPush::OnUpdate, this));
    public: void OnUpdate()
      this->joint->SetForce(0, tor[count++%10]);

      cout << fixed << this->model->GetWorld()->GetSimTime() << "\t";
      cout << fixed << "pos=" << this->joint->GetAngle(0).Radian() << "\t";
      cout << fixed << "vel=" << this->joint->GetVelocity(0) << "\t";
      cout << fixed << tor[count%10] << endl;
edit retag flag offensive close merge delete


This may seem like an obvious question, but do you have only one plugin loaded? Maybe also print the model name and the plugin address (this)?

chapulina gravatar imagechapulina ( 2019-01-25 11:05:10 -0600 )edit