gravity not disabled while <gravity>0</gravity>

asked 2020-11-16 05:11:39 -0500

sana gravatar image

updated 2020-11-16 08:05:48 -0500

Hello, I added the tag

<gravity>0</gravity>

to all links of my urdf model of a robotic arm under gazebo tag.

But when I launch the model into gazebo, the gravity of the final link, to whome the tool is connected, is never zero. The desactivation of gravity is applied for the rest of links.

I get the follwing warning message:

Warning [parser_urdf.cc:1115] multiple inconsistent <gravity> exists due to fixed joint reduction overwriting previous value [0] with [true].

I have already used turnOffGravity and it doesn't work with my urdf model.

All I need is to get my robot fix in its home position, when launching gazebo.

When I remove the tool, everything is ok and the gravity is desactivated.

PS: I am fixing camera to the final link of my robotic arm.

I am so thankful for help and advices.

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