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How to get the force applied to a link?

asked 2018-01-09 16:50:16 -0500

schulze_18 gravatar image

updated 2018-01-09 16:51:13 -0500

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 -0500

nkoenig gravatar image
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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.

Jenny B gravatar imageJenny B ( 2020-03-31 11:38:43 -0500 )edit
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answered 2018-11-13 05:42:48 -0500

AlberSaber gravatar image

updated 2018-11-13 05:43:25 -0500

math::Vector3 force(0,0,100);

model->GetLink("baselink")->SetForce(force);

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Asked: 2018-01-09 16:50:16 -0500

Seen: 1,039 times

Last updated: Nov 14 '18