GetVelocity returns absurd values in Gazebo 7 and ROS Kinetic
Hi all, after the upgrade to ROS Kinetic and Gazebo 7 my quadruped robot (hyq, URDF available here) returns unrealistic values for the joint velocities.
When the robot is static:
I see a velocity of 0.68 rad/s (or deg/s the documentation is unclear :( whereas the exact same code (a copy of this one) correctly returns almost zero values in Gazebo 2.2
Any known issue about this?
Attached is the output of gz model -m hyq -i
Thanks!
UPDATE
The problem occurs in Gazebo8 as well :(
Maybe is something related to the robot model?
UPDATE 2
I somewhat mitigated the problem by setting the <maxVel>
tag to 1.
However, when the joints are perfectly static, the velocity is still around 0.004 rad/s
Asked by mark_vision on 2018-02-01 02:38:24 UTC
Answers
Hi @mark_vision,
how do you set the maxVel
attribute? do you call the method of the Joint
class setParam
?
Have you found a better solution to this problem in the meantime?
I am asking this since in Gazebo 11
I found the same problem.
Thanks
Asked by gcorsini on 2022-11-10 09:56:35 UTC
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