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How to set a model to be static by command?

asked 2018-05-01 10:20:40 -0500

ycx424 gravatar image

I am using gazebo2 with fetch robot under ubuntu 14.04 with ros-indigo. After I launch the gazebo world, the robot is not static. I would like to set the robot to be static later by using the command line or publishing msg to a certain topic.

Does anyone know how to do this? Thank you very much!

I already checked the

Services: State and property setters

~/set_link_properties : gazebo_msgs/SetLinkProperties

~/set_physics_properties : gazebo_msgs/SetPhysicsProperties

~/set_model_state : gazebo_msgs/SetModelState

~/set_model_configuration : gazebo_msgs/SetModelConfiguration

~/set_joint_properties : gazebo_msgs/SetJointProperties`

~/set_link_state : gazebo_msgs/SetLinkState

~/set_link_state : gazebo_msgs/LinkState

~/set_model_state : gazebo_msgs/ModelState

I didn't find the solution.

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answered 2018-05-01 11:12:47 -0500

chapulina gravatar image

In my experience, it is not possible to set an object to be static after it's been initialized as dynamic, even when using the Gazebo API.

If you elaborate on why you want to set it to static, there may be another way to achieve what you want.

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Thank you very much for your response. The robot keeps a slight swaying after I change its position by passing a ModelState message to 'set_model_state' service. That's why I want to set it to be static after I move it.

ycx424 gravatar imageycx424 ( 2018-05-02 22:15:13 -0500 )edit

You could create a fixed joint from the world to the robot...

chapulina gravatar imagechapulina ( 2018-05-02 22:21:49 -0500 )edit

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Asked: 2018-05-01 10:20:40 -0500

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Last updated: May 01 '18