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How to set initial conditions (angular position) on my model with closed loop linkages through Gazebo plugin?

asked 2021-08-08 08:36:34 -0500

andrea_pat gravatar image

Hi, I am writing a control plugin for my simulated robot on Gazebo 11. I am having problems, however, trying to set initial conditions on the model, in particular on its revolute joints. It has two closed loop linkages and I hoped that SetPosition worked recursively without issues. However, I get a terminal message upon world loading saying "failed to find a clean set of connected links, i.e. this joint is inside a loop, cannot SetPosition kinematically". Is there a way to solve the issue or a workaround? Thanks in advance

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answered 2021-10-21 03:14:04 -0500

Hi, I am having exactly the same problem. However, I am able to move the link through joint control and the closed-loop linkage is correct. So, once I put the robot in the homing manually I ctrl+shift+r and the robot manages to stay up...however this is annoying...

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Asked: 2021-08-08 08:36:34 -0500

Seen: 102 times

Last updated: 15 hours ago