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I don't know much about Gazebo's inner processes, and I've only used SetWorldPose in the context of teleporting a fixed robot. I searched around in the source code and saw in https://github.com/osrf/gazebo/blob/gazebo11/gazebo/gui/model/JointMaker.cc , that SetWorldPose() is followed by a SetVisualMoved() specific to that class. One guess coming out of that, is that it might be worth checking whether only the visuals are wrong, or that the physical locations are also not being updated. You might be able to print the joint positions and the visual positions to check that.