Changes to model behavior when converting between Gazebo 1.0 and Gazebo 1.8
Hi All,
I've been modelling an arm which uses a plugin that models hydraulic actuators and valves. The model is a state representation that uses actuator velocity and acceleration as states and outputs force.
to link to gazebo model I get my velocity state from the joints using joint::GetVelocity() in the model and apply my actuator force to the joints via joint::SetForce().
These are both done on the plugin's OnUpdate()
This works fine with Gazebo 1.0 and the model was controllable.
I recently converted over standalone Gazebo 1.7, and the joint response was no longer sufficient to defeat gravity and my actuators that previously responded correctly now can no longer lift the links of my manipulator.
My gravity vector is (0, 0, -9.8)
Additionally my model's joints jerk around quite a bit without input from any controller to the plugin.
I'm just wondering if there have been any changes that may be causing this behavior in the new Gazebo. I haven't significantly modified my models or plugins other than to convert them for Gazebo 1.7. As a result the plugin did have to be outside ROS as per the Tutorials1.5/ros_plugin. but was functionally unchanged.
Any suggestions as to what may be wrong?
