Question

I use https://github.com/Pitrified/gazebo_ros_link_attacher to attach my robot‘s head link to groundplane's link,but the head link cannot be moved after it is detached from the groundplane's link. Not native English Speaker，Thanks！

The head link appear to be fixed at the joint points.

Asked by HZ on 2021-05-20 22:56:54 UTC

Answer 1

Hi, I had the same problem when attaching to a static model! Changing the model to

<static>false</static>

and instead applying a joint to the world (in the .sdf file) did the trick for me!

When doing this I experience oscillations between the attached models - I was able to remove this by applying damping to the (previously static) model:

  <velocity_decay>
    <linear>1</linear>
    <angular>1</angular>
  </velocity_decay>

Asked by Kopper29 on 2022-01-11 12:19:30 UTC

The link cannot be moved after it is attached and detached to a static model

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