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How does gazebo handle damping in Joint::SetForce ?

asked 2014-12-05 16:39:25 -0600

Eduardo Albuquerque gravatar image

updated 2014-12-05 16:39:46 -0600

I'm using gazebo's API to apply force to a joint with a non-null damping coeficient (Defined in the SDF). Is it necessary to include the damping effect when I call the method SetForce() ?

e.g joint -> SetForce ( 0, effort - joint->GetDamping(0) * joint->GetVelocity(0))

Or does Gazebo handle the damping automatically and I don't have to include it?

e.g joint -> SetForce ( 0, effort )

Thanks

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answered 2014-12-05 20:09:26 -0600

scpeters gravatar image

No, you don't have to include the damping effect when you call SetForce. You shouldn't at least. If it's not working like this then submit a bug report and we'll fix it.

Thanks!

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Asked: 2014-12-05 16:39:25 -0600

Seen: 913 times

Last updated: Dec 05 '14