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gazebo8 min_depth minimum value is .01

Hi All,

The min_depth values from my robots generated .sdf are being changed by gazebo (I believe). For min depth values greater or equal than .011, they are passed without issue, however for values between [.01, .005] the min_depth is set to .01, and for values less than .005, the min_depth is set to 0.

.sdf excerpt:

  <collision name='BR_foot_link_collision'>
       ...
    <geometry><cylinder> <length>0.15</length><radius>0.03</radius></cylinder></geometry>
    <surface>
        ...
      <contact>
        <ode>
          ...
          <min_depth>0.009</min_depth>
        </ode>
      </contact>
    </surface>
  </collision>

from gazebo (see min_depth value):

min_depth = .01 in gazebo

Why is this happening? How can I set min_depth values less than .01?

system specs: ubuntu16, ros kinetic, and gazebo8

Thanks

gazebo8 min_depth minimum value is .01

Hi All,

The min_depth values from my robots generated .sdf are being changed by gazebo (I believe). For min depth values greater or equal than .011, they are passed without issue, however for values between [.01, .005] the min_depth is set to .01, and for values less than .005, the min_depth is set to 0.

.sdf excerpt:

  <collision name='BR_foot_link_collision'>
       ...
    <geometry><cylinder> <length>0.15</length><radius>0.03</radius></cylinder></geometry>
    <surface>
        ...
      <contact>
        <ode>
          ...
          <min_depth>0.009</min_depth>
        </ode>
      </contact>
    </surface>
  </collision>

from gazebo (see min_depth value):

min_depth = .01 in gazebo

Why is this happening? How can I set min_depth values less than .01?

system specs: ubuntu16, ros kinetic, and gazebo8

Thanks

gazebo8 bug? min_depth minimum value is .01

Hi All,

The min_depth values from my robots generated .sdf are being changed by gazebo (I believe). For min depth values greater or equal than .011, they are passed without issue, however for values between [.01, .005] the min_depth is set to .01, and for values less than .005, the min_depth is set to 0.

.sdf excerpt:

  <collision name='BR_foot_link_collision'>
       ...
    <geometry><cylinder> <length>0.15</length><radius>0.03</radius></cylinder></geometry>
    <surface>
        ...
      <contact>
        <ode>
          ...
          <min_depth>0.009</min_depth>
        </ode>
      </contact>
    </surface>
  </collision>

from gazebo (see min_depth value):

min_depth = .01 in gazebo

Why is this happening? How can I set min_depth values less than .01?

system specs: ubuntu16, ros kinetic, and gazebo8

Thanks