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

asked 2021-05-20 22:56:54 -0500

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

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

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answered 2022-01-11 11:19:30 -0500

Kopper29 gravatar image

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>
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Asked: 2021-05-20 22:56:54 -0500

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Last updated: May 20 '21