Home | Tutorials | Wiki | Issues
Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version

Does fixed joint have a bug in sdf ?

I use gazebo7 with ubuntu16.04 to simulate a four wheel robot. 1. If my sdf model has a fixed joint (not for the wheel but for a cemera) like below, the wheel rotation velocity will oscillate, see the picture below the code.

<!-- the zed joint -->
<joint type="fixed" name="zed_hinge">
  <pose>0 0 0 0 0 0</pose>
  <child>stereocamera</child>
  <parent>base_link</parent>
</joint>

image description

  1. If I change the fixed joint to a revolute joint whit all other things the same as below, the result will be much better.

    <joint type="revolute" name="zed_hinge"><pose>0 0 0 0 0 0</pose>
    

    <child>stereocamera</child> <parent>base_link</parent> <axis> <xyz>0 0 1</xyz> </axis> </joint>

Does fixed joint have a bug in sdf ?

I use gazebo7 with ubuntu16.04 to simulate a four wheel robot. 1. If my sdf model has a fixed joint (not for the wheel but for a cemera) like below, the wheel rotation velocity will oscillate, see the picture below the code.

<!-- the zed joint -->
<joint type="fixed" name="zed_hinge">
  <pose>0 0 0 0 0 0</pose>
  <child>stereocamera</child>
  <parent>base_link</parent>
</joint>

image description

  1. If I change the fixed joint to a revolute joint whit all other things the same as below, same, the result will be much better.better shown below.

    <joint type="revolute" name="zed_hinge"><pose>0 name="zed_hinge"> <pose>0 0 0 0 0 0</pose>

    <child>stereocamera</child> <parent>base_link</parent> <axis> <xyz>0 0 1</xyz> </axis> </joint>

Does fixed joint have a bug in sdf ?

I use gazebo7 with ubuntu16.04 to simulate a four wheel robot. 1. robot. If my sdf model has a fixed joint (not for the wheel but for a cemera) like below, the wheel rotation velocity will oscillate, see the picture below the code.

<!-- the zed joint -->
<joint type="fixed" name="zed_hinge">
  <pose>0 0 0 0 0 0</pose>
  <child>stereocamera</child>
  <parent>base_link</parent>
</joint>

image description

  1. If I change the fixed joint to a revolute joint whit all other things the same, the result will be much better shown below.

    <!-- the zed joint -->
    <joint type="revolute" name="zed_hinge">
      <pose>0 0 0 0 0 0</pose>
      <child>stereocamera</child>
      <parent>base_link</parent>
      <axis>
        <xyz>0 0 1</xyz>
      </axis>
    </joint></joint>
    

    image description

I want to know, does fixed joint works properly?

Does fixed joint have a bug in sdf ?

I use gazebo7 with ubuntu16.04 to simulate a four wheel robot. If my sdf model has a fixed joint (not for the wheel but for a cemera) like below, the wheel rotation velocity will oscillate, see the picture below the code.

<!-- the zed joint -->
<joint type="fixed" name="zed_hinge">
  <pose>0 0 0 0 0 0</pose>
  <child>stereocamera</child>
  <parent>base_link</parent>
</joint>

image description

If I change the fixed joint to a revolute joint whit with all other things the same, the result will be much better shown below.

<!-- the zed joint -->
<joint type="revolute" name="zed_hinge">
  <pose>0 0 0 0 0 0</pose>
  <child>stereocamera</child>
  <parent>base_link</parent>
  <axis>
    <xyz>0 0 1</xyz>
  </axis>
</joint>

image description

I want to know, does fixed joint works properly?