Does gazebo_ros_joint_pose_trajectory preserve world velocity?

asked 2020-08-17 09:46:21 -0500

andy.mcevoy gravatar image


I'm trying to better understand the joint pose trajectory plugin in ROS, gazebo_ros_joint_pose_trajectory.

On line 180, SetPosition is used with preserveWorldVelocity set to true, then either SetLinkWorldPose or SetWorldPose is called. My understanding from other questions is that SetLinkWolrdPose and SetWorldPose don't preserve velocity... Could someone help explain what the ROS plugin is actually doing? Why is SetLinkWorldPose or SetWorldPose needed after SetPosition?

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