how to use "SetAngularAccel"?
I wrote a very simple modelplugin. I just want to see how model moves when I use the method "SetAngularAccel" But, nothing happened,"SetAnfularAccel"doesn't work, my model still rests there. Please tell me what's wrong,Thank you!
<?xml version="1.0" ?>
<sdf version="1.4">
<model name="test">
<link name="Link">
<self_collide>true</self_collide>
<pose>0 0 0.05 0 0 0</pose>
<inertial>
<mass> 0.1 </mass>
</inertial>
<collision name="Base_collision">
<geometry>
<box>
<size>0.1 2 0.1</size>
</box>
</geometry>
</collision>
<visual name="Visual">
<geometry>
<box>
<size>0.1 2 0.1</size>
</box>
</geometry>
</visual>
</link>
<plugin name="df" filename="/home/Dropbox/gazebo/torquetest/dist/Debug/GNU-Linux-x86/libtorquetest.so"/>
</model>
</sdf>
#include <gazebo/gazebo.hh>
#include <gazebo/physics/physics.hh>
#include <gazebo/common/common.hh>
using namespace gazebo;
class Arm_Control : public ModelPlugin
{
public:~Arm_Control(){}
public: void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/)
{
this->model = _parent;
this->updateConnection = event::Events::ConnectWorldUpdateBegin(boost::bind(&Arm_Control::OnUpdate, this, _1));
}
public: void OnUpdate(const common::UpdateInfo & /*_info*/)
{
model->GetLink("Link")->SetAngularAccel(math::Vector3(0,0,1.5));
}
private:
physics::ModelPtr model;
event::ConnectionPtr updateConnection;
};
GZ_REGISTER_MODEL_PLUGIN(Arm_Control)
Try adding larger values see if that works, test it if you are able to move it by adding a normal velocity to it, another problem might be that you didn't set the inertia matrix? Here's an example
https://bitbucket.org/osrf/gazebo/src/8b2d9259f8d0607f2cbeaf470e9349bbe4efa8c1/worlds/cart_demo.world?at=default#cl-29and set the values to a small one, something like 0.001Thank you your suggestion. ▇1.SetAngularVel() and SetLinearVel do work well ▇2.I set angular acceleration to 1000, my model still rests there[SetAngularAccel(math::Vector3(1000,1000,1000))] ▇3.I have added inertia matrix to my model sdf file,It still did not work [<ixx>0.01</ixx><ixy>0</ixy><ixz>0</ixz><iyy>0.01</iyy><iyz>0</iyz><izz>0.01</izz></inertia>] Do you have any ideas? Thank you!