Hi all,
I want the wheels of a mobile robot to lock, say on some given command, so that there is no need to run the wheel controllers, and upon an unlock command to go back to usual behavior. I saw in DRC http://gazebosim.org/wiki/DRC/UserGuide#Freeze that there is a freeze functionality. So, I was wondering whether this is possible or not.
Thank you
Peshala
You can do this programmatically using the physics API if you have a pointer to the Joint object. See the Joint::SetHighStop and Joint::SetLowStop commands. There is an example of using these commands in one of the physics tests (test/integration/physics.cc:848).
So my approach would be to get a pointer to the joint object, read the current joint position, then set the joint limits to be equal to the current position.
gazebo::physics::JointPtr joint;
joint = getTheJointPtrSomehow();
// Get the current joint position
gazebo::math::Angle currentPosition = joint->GetAngle(0);
joint->SetHighStop(0, currentPosition);
joint->SetLowStop(0, currentPosition);
That's how I would do it currently. It would be nice to have an API that would do this automatically. Please make a feature request on the bitbucket issue tracker if you have an idea for how you would like it to work.
Asked: 2013-12-19 01:10:12 -0600
Seen: 1,987 times
Last updated: Dec 19 '13
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