Does Gazebo 7 Ignore the SDF Pose Element for Fixed Joints?

asked 2016-03-07 08:41:25 -0600

liangfok gravatar image

I believe the answer is yes but wanted to make sure. My SDF joint definition is as follows:

<joint name='myJoint' type='fixed'>
  <parent>parent_link</parent>
  <child>child_link</child>
  <pose>0 0 0 0 0 0</pose>
</joint>

I can change the <pose> element to be any arbitrary value and Gazebo 7 would show the robot as if the joint still had zero pose. Is this expected?

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Comments

What behaviour were you expecting to see? I think the joint pose doesn't matter for a fixed joint, no matter where it is, the links will maintain their initial relative pose.

chapulina gravatar imagechapulina ( 2016-03-07 11:20:36 -0600 )edit

@chapulina what you are saying is true...! I also checked this behavior. Changing the <pose> element of the joints for fixed joints does not change the pose.

vonstafenberg gravatar imagevonstafenberg ( 2017-08-11 08:46:58 -0600 )edit

I get the same behaviour with Gazebo 11 and ROS2 foxy

georgeman93 gravatar imagegeorgeman93 ( 2021-02-15 03:09:24 -0600 )edit
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