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If I'm not mistaken, when you don't set gain, the controller use the Gazebo function SetPosition, which "teleport" the link at each timestep. If you set PID value, the controller use the Gazebo function SetForce, which allows a more realistic dynamic simulation.

If I'm not mistaken, when you don't set gain, the controller use the Gazebo function SetPosition, which "teleport" the link at each timestep. If you set PID value, the controller use the Gazebo function SetForce, which allows a more realistic dynamic simulation.

this is done in this function in default_robot_hw_sim.cpp

If I'm not mistaken, when you don't set gain, the controller use the Gazebo function SetPosition, which "teleport" the link at each timestep. If you set PID value, the controller use the Gazebo function SetForce, which allows a more realistic dynamic dynamics simulation.

this is done in this function in default_robot_hw_sim.cpp