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Change frame of a link/joint without moving the link joint

asked 2014-09-30 11:59:54 -0500

arennuit gravatar image


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,


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answered 2014-09-30 16:50:00 -0500

nkoenig gravatar image

The functionality you describe is not currently implemented. Please submit an issue on Gazebo's issue tracker.

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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).

arennuit gravatar imagearennuit ( 2014-09-30 17:03:24 -0500 )edit

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?

nkoenig gravatar imagenkoenig ( 2014-09-30 17:25:36 -0500 )edit

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

arennuit gravatar imagearennuit ( 2014-10-01 03:04:25 -0500 )edit

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Asked: 2014-09-30 11:59:54 -0500

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Last updated: Sep 30 '14