Change frame of a link/joint without moving the link joint
Hello,
Is there a way to change the frame of a link/joint at runtime? I am asking because I would like to change the axis of rotation of a joint at runtime (by editing the frame in which this axis is expressed).
Note: Entity::SetWorldPose() is not an option because it changes the position of the underlying link/joint and disturbs the momenta.
Kind regards,
Antoine.
Asked by arennuit on 2014-09-30 11:59:54 UTC
Answers
The functionality you describe is not currently implemented. Please submit an issue on Gazebo's issue tracker.
Asked by nkoenig on 2014-09-30 16:50:00 UTC
Comments
Aargh! We need this to simulate mecanum wheels... do you know if there exists (paid) gazebo support that could fast track the implementation of this feature? (issue created here).
Asked by arennuit on 2014-09-30 17:03:24 UTC
It sounds like you are creating a plugin to simulate the mecanum wheels, is that correct? Have you tried creating a mechanically correct model of the wheel?
Asked by nkoenig on 2014-09-30 17:25:36 UTC
You are right indeed. I am a bit scared of the stability and performance of simulating a real mecanum wheel though but that may be worth a test. Will investigate this solution... Regards
Asked by arennuit on 2014-10-01 03:04:25 UTC
Comments