Gazebo | Ignition | Community
Ask Your Question

JointController SetAngularVelocityTarget ?

asked 2017-04-21 08:13:21 -0600

shenki gravatar image

updated 2017-04-24 02:45:58 -0600

Hello it's me again,

I am using a JointController to move my robots, however I need to set an angularVelocity and I couldn't find this function in the documentation.

Does this exist ? If no, what other way to do do I have ? thank you in advance !

edit retag flag offensive close merge delete

2 Answers

Sort by ยป oldest newest most voted

answered 2017-04-21 10:04:40 -0600

chapulina gravatar image

The JointController class uses the SetVelocityTarget function to set a target velocity for a joint's axis. If that joint is rotational, that will be an angular velocity given in rad/s. If it's a prismatic joint, that will be a linear velocity given in m/s.

edit flag offensive delete link more


My 4 joints are now of type revolute2 ( since I want 2 axis ), when I set a velocity it only roll on one axis, how do I do to make it rotate now (set velocity on another axis)? thank you for your answer anyway

shenki gravatar imageshenki ( 2017-04-24 03:16:06 -0600 )edit

Unfortunately, the joint controller doesn't support multi-axis joints. There's an issue open about this: One solution would be to use 2 revolute joints with a dummy link in between

chapulina gravatar imagechapulina ( 2017-04-24 11:46:07 -0600 )edit

answered 2017-04-21 08:31:12 -0600

winston gravatar image

You should try this functiongazebo::physics::Joint::SetVelocity as stated in link.

edit flag offensive delete link more

Question Tools

1 follower


Asked: 2017-04-21 08:13:21 -0600

Seen: 1,680 times

Last updated: Apr 24 '17