XACRO: Acutator use in gazebo turn robot to a strange performance [closed]

asked 2017-07-22 01:42:39 -0500

ZQSHI gravatar image

updated 2017-07-24 06:04:40 -0500

I know where I am wrong.

I put the wrong hardware interface.

Do not use PositionJointInterface and the problem was solved.

The question will be closed.

Thanks. --------Original Question-----------------------------

I am not sure whether I can state clearly. I will try my best.

I used ROS & Gazebo to do my Robot Simulation

I follow the Tutorial of URDF to the gazebo part.

However, I found if I add the following part

  <transmission name="head_swivel_trans">
    <actuator name="$body_to_head_motor">
    <joint name="body_to_head">

Then I found the robot in the gazebo seems won't be affected by gravity (seems like turn g from 9.8 to 0.5) .. very strange..

However, if I remove part:

<actuator name="$body_to_head_motor">

Then the robot in the gazebo will be like in the real environment (which means g is 9.8)

I try to search via google but failed.

Does any one know why?

Thanks very much!

edit retag flag offensive reopen merge delete

Closed for the following reason duplicate question by ZQSHI
close date 2017-07-24 06:04:46.918101