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body acceleration in contact between two bodies

asked 2014-12-25 11:41:04 -0500

shpower gravatar image


I am trying to simulate a wheel(cylinder) on a surface (ground_plane). I launch the gazebo with sdf file which contains both models and give it a 3 seconds to get rest with parameters Kp =380 and Kd=10. I can see the spring rest when I look at the output of position and velocities commands of z axis (GetWorldCoGPose() and GetWorldCoGLinearVel() gazebo API commands), but when I use GetWorldLinearAccel() command I get acceleration z value as zero although the wheel is moving. Sombody knows why? maybe the GetWorldLinearAccel() is not the right command?

Thanks in advance

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answered 2014-12-29 19:30:31 -0500

scpeters gravatar image

Link::GetWorldLinearAccel was broken for quite a while, though it has recently been fixed if you build from source. It will be fixed in a new release of gazebo in the next month or so.

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Asked: 2014-12-25 11:41:04 -0500

Seen: 224 times

Last updated: Dec 29 '14