How to get the force applied to a link?

asked 2018-01-09 16:50:16 -0600

schulze_18
3 ●2 ●2 ●4

updated 2018-01-09 16:51:13 -0600

Hello everyone,

I trying to control a quadrotor in gazebo but I'm having some trouble. I'm able to control the velocity of each rotors using a PID+SetForce(), but the quadrotor doens't take off. So, I want to monitor the resulting force applied to the base link of the quadrotor to find the problem, if it doens't fly because I didnt apply a control yet or because the rotors are rotating without applying any force to the body of the quadrotor.

How can I get the resulting force applied to the base link?

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answered 2018-11-14 09:26:42 -0600

nkoenig
7676 ●8 ●44 ●71 http://gazebosim.org/

Take a look at Link::RelativeForce and Link::WorldForce

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What does Link::RelativeForce return? Does it include forces on the link from downstream links? I'm not seeing that it does.

I'm trying to create a Force/Torque sensor that gives me the external force/torque on a link at the end of a chain. I'd rather not put a joint there because joints must be between links that have mass in gazebo.