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GetAngle of revolute2 returns always 0

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

Moritz gravatar image


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 gravatar image

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 gravatar imageMoritz ( 2014-12-08 10:20:18 -0500 )edit
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Asked: 2014-12-08 09:17:36 -0500

Seen: 759 times

Last updated: Dec 08 '14