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How can I set the preserveWorldVelocity flag in Gazebo 9 (hopefully through roslaunch and urdf)?

asked 2018-03-07 12:32:29 -0500

raequin gravatar image

updated 2018-03-07 12:35:28 -0500

In order to get rid of unwanted behavior in Gazebo 7, I have installed Gazebo 9 in hopes of setting the preserveWorldVelocity flag. (Is "flag" the proper term?) I'm using roslaunch and xacro to start my simulation. In the robot xacro I have


but trying something similar with


has no effect. Can you tell me how to set this flag so that using PositionJointInterface does not mean velocities are repeatedly cleared?

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answered 2018-03-20 16:27:27 -0500

raequin gravatar image

The solution is to install the latest version of gazebo_ros_pkgs from source ( With that package _preserveWorldVelocity is true.

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Asked: 2018-03-07 12:32:29 -0500

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Last updated: Mar 20 '18