Hi,

In Gazebo 5.0 when using physics::Joint::SetMaxForce I got this warning :

virtual void gazebo::physics::Joint::SetMaxForce(unsigned int, double)’ is deprecated (declared at /usr/include/gazebo-5.0/gazebo/physics/Joint.hh:365) [-Wdeprecated-declarations] joints[i]->SetMaxForce(0, 1.0);

And when I remove it and use only Joint::SetVelocity the robot starts to do random moves and fly even with 0.1 rad/s

How to fix this ?

UP DATE

here is the source code

#include <boost/bind.hpp>
#include <gazebo/gazebo.hh>
#include <gazebo/physics/physics.hh>
#include <gazebo/common/common.hh>
#include <stdio.h>

namespace gazebo
{   
  class SetJoints : public ModelPlugin
  {
    public: void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) 
    {

      this->model = _parent;

      this->updateConnection = event::Events::ConnectWorldUpdateBegin(
          boost::bind(&SetJoints::OnUpdate, this, _1));
    }
    public: void OnUpdate(const common::UpdateInfo & /*_info*/)
    {

      //this->model->GetJoint("my_joint")->SetParam("fmax", 2, 1.1);
      //this->model->GetJoint("my_joint")->SetParam("vel", 2,6.0 );

      this->model->GetJoint("my_joint")->SetMaxForce(2,1);
      this->model->GetJoint("my_joint")->SetVelocity(2,4);

    }


    private: physics::ModelPtr model;
    private: event::ConnectionPtr updateConnection;

  };
  GZ_REGISTER_MODEL_PLUGIN(SetJoints)
}

joint->SetParam("max_force", index, maxForce);
joint->SetParam("vel", index, velocity);