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How do I properly use the gazebo API?

asked 2015-12-29 04:54:52 -0600

daltonfury42 gravatar image

Say I want to rotate a joint at a certain velocity. So I browse through the API reference pages and reach here.

I can't seem to find any reference to the term 'velocity'. Is it linear velocity or angular velocity? Also what is it's unit? Where do I find information about it?

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Nobody can answer this simple question?

daltonfury42 gravatar imagedaltonfury42 ( 2016-01-05 06:29:27 -0600 )edit

Since ODE is the default physic engine for gazebo, you might find some answers here:

debz gravatar imagedebz ( 2016-01-06 11:38:01 -0600 )edit

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answered 2016-01-05 12:16:13 -0600

chapulina gravatar image

It depends on the joint type. Velocity will be linear for prismatic joints and angular for revolute joints.

Gazebo uses SI units, so linear velocity is in m/s and angular velocity in rad/s.

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Asked: 2015-12-29 04:54:52 -0600

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Last updated: Jan 05 '16