Could I lock the joint at runtime?
In the VRX project, I added joints to the engine of my USV model to lift the engine, as shown in the image below.
I have successfully used the tag <joint name="" type="revolution"> to make it rotate on a specified axis to achieve the goal. However, when the underwater thrusters are activated, a moment is applied to the joint, causing the engine to be lifted. It's reasonable because the joint type is "rotate".
So what I want to do is "Change joint type during execution. From revolution to fixed". This means I could freely switch between revolution and fixation. It's like I can put a plug-in on that degree of freedom and I can take it off at any time.
However, I don't know where to start. I tried to check the plugin tutorial, but gazebo sim (not classic) doesn't provide a clearer tutorial. And because of my ability, it is more difficult to check if there is any source code (I still don't know how it works).
I would like to ask if there is no package or plug-in that can achieve this goal? Or is there a way to achieve this that I can't think of.
Thanks
