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Did the symantics of how to do joint commands change for gazebo 10 or 11?

asked 2020-05-04 23:05:46 -0600

asomerville gravatar image

Just upgraded from Gazebo 9 to Gazebo 11. Got through a few items (including having to change a joint axis!) and am stuck in that I can no longer command my model. No error messages that I've noticed. Just doesn't move.

I'm publishing on ignition topic /RobotName/joint_cmd to control my model which works on gazebo 9 but just seems not to work on gazebo 11. I can't seem to find documentation on the joint_cmd topic. Reading the source it appears to be part of the jointcontroller which perhaps runs by default? or perhaps it used to run by default but does no longer?

Since the joint_cmd is an ignition topic the gz tool doesn't appear to help debug.

I don't see anything in https://github.com/osrf/gazebo/blob/g... that indicates a change I should be investigating. The closest thing I see is a JointCmd protobuf change, but I suspect that should all work if there are no compile or other errors?

Am I missing something obvious?

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answered 2020-05-05 18:25:44 -0600

asomerville gravatar image

Apparently the JointCmd protobuf change was indeed the problem.

The silent failure was frustrating.

I don't really understand the purpose of the change, or why it was done the way it was.

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Asked: 2020-05-04 23:05:46 -0600

Seen: 100 times

Last updated: May 05