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GetAngle of revolute2 returns always 0

asked 2014-12-08 09:17:36 -0500

Moritz
15 ●2 ●2 ●6

Hi,

I'm using gazebo 2.2.5, because it ships with Ubuntu. However, for my revolute2 joints I can't get the angular position of the 2nd axis: joint->GetAngle(1) returns always 0. GetVelocity(1) as well as GetAngle(0) and GetVelocity(0) work as expected.

I found in this forum that this bug should have been fixed in Gazebo 1.4 here - but apparently it's not.

I would like to know if this is a bug, and if it is fixed in later versions? I would prefer to stay with the gazebosim that comes with ubuntu, unless there is a really good reason to upgrade and resign the convenience that prepacked versions offer...

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answered 2014-12-08 10:17:22 -0500

nkoenig
7596 ●8 ●43 ●70 http://gazebosim.org/

Gazebo currently does not ship with Ubuntu. You have probably installed ROS, which brings in Gazebo2.

The issue that you have referred to is related to your question, but addresses a different problem.

Access to the angle of the second axis of a revolute2 joint has not been available in ODE. We have an outstanding issue to fix this.

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Thanks. I have a workaround: I just connect multiple 1DOF revolute joints via massless links.

Moritz ( 2014-12-08 10:20:18 -0500 )edit

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Asked: 2014-12-08 09:17:36 -0500

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Last updated: Dec 08 '14

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