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Set is_static through service call

asked 2014-02-07 15:19:44 -0500

Peaches491 gravatar image

Hey gang,

I'm currently wrestling with an annoying problem. I am trying to simulate putting new tires on a car in Gazebo. I have models of the Wheels, and the hubs which they sit on. Currently, there are three "studs" which line up with three matching holes on the Wheel.

When I spawn the wheel on the hub, it looks fine at first. However, the tire will slowly wiggle itself off of the hub, in about 30 seconds.

I am looking for a method to stop physical simulation on the Wheel through a python script, which I would run once the tire is lifted into place.

However, I can't find an appropriate service call to set the is_static property of a model. How can I achieve this?

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Are you using gazebo with ros?

scpeters gravatar imagescpeters ( 2014-02-07 18:17:52 -0500 )edit

Yes. Version 2.0

Peaches491 gravatar imagePeaches491 ( 2014-02-07 18:22:47 -0500 )edit

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answered 2014-02-21 13:16:59 -0500

nkoenig gravatar image

Gazebo currently doesn't have service calls.

You could write a model plugin that creates a ROS service. The service could then call SetStatic on the model.

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Asked: 2014-02-07 15:19:44 -0500

Seen: 317 times

Last updated: Feb 21 '14