Gazebo | Ignition | Community
Ask Your Question

Applying a force to a link in gazebo plugin

asked 2017-09-04 19:12:37 -0500

kkrasnosky gravatar image

I am trying to simulate an autonomous surface vehicle with an azimuthing thruster. I set up a basic model and want to apply a force to the thruster in the thruster's reference frame. What recommendations do you have for accomplishing this?

So far I have tried:

this->model->GetJoints()[0]->SetForce(0, 300);  // in this method I can't seem to control the direction.  Is it applying a torque and not a force maybe?


math::Vector3 force(100,0,0);
// this method seems to work, however,  it applies a force in the global x direction not the thruster x direction.
edit retag flag offensive close merge delete


rotate the force vector into thruster's frame? you can get the world orientation or entities using `GetWorldPose().rot` and just apply that to `force`

iche033 gravatar imageiche033 ( 2017-09-05 13:08:55 -0500 )edit

1 Answer

Sort by ยป oldest newest most voted

answered 2017-11-09 14:29:39 -0500

Francimore gravatar image

updated 2017-11-09 14:30:02 -0500

try this:

gazebo::physics::LinkPtr link=  _model->GetChildLink("Path::to::Link");
link->AddForce(gazebo::math::Vector3(x, y, z)); //for global force
link->AddRelativeForce(math::Vector3(x, y, z)); // for relative force depends on actual pose and angular

Path to your link you can find over the GUI or from SDF file

edit flag offensive delete link more

Question Tools

1 follower


Asked: 2017-09-04 19:12:37 -0500

Seen: 4,218 times

Last updated: Nov 09 '17