Problem with Fixed Joints

asked 2019-02-09 15:12:45 -0600

trishantroy gravatar image

Hey,

I want to simulate a Hokuyo lidar with a servo. So, I created a fixed joint between the servo's wheel and hokuyo link. But when I am controlling the servo with a predefined velocity, the joint is rotating with some random different velocity. But, everything is working fine when I am rotaing without the lidar attached.

Have I made a mistake in defining the joint?

<joint name="hokuyo_joint" type="fixed">
  <parent>servo_ax12a::Wheel</parent> 
  <child>hokuyo::link</child>
</joint>

Please help. Thanks in advance.

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Comments

Gazebo usually treats a two links connected with fixed joint as one. It chooses one of the links name (it has always been the parent link for me) and uses it as this common link. When you look into the model tree after loading the simulation, is the link named as the child or parent of the fixed joint? Is that the name you assigned to the rotating joint? Otherwise is the hokuyo sensor maybe too heavy for the rotating joint? Are the physical properties assigned correctly?

kumpakri gravatar imagekumpakri ( 2019-02-11 11:03:51 -0600 )edit