Joint->GetVelocity() returns non-zero for blocked joint

asked 2021-07-08 10:09:39 -0500

Pashek1 gravatar image

Hi, I have a robot with wheels controlled by gazebo_ros_skid_steer_drive, which uses Joint Motors approach for setting joint velocities (i.e. SetParam("fmax"), SetParam("vel")). But strange thing happens when the joint/wheel is physically blocked in simulation. The joint position is not changing due to the block, but GetVelocity still returns the value close to that set by SetParam("vel"). While what I expect is zero velocity since the wheel is not rotating. This results in wrong wheel odometry generated. Is this behavior expected?

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