Gazebo | Ignition | Community
Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version

Applying a force to a link in gazebo plugin

I am trying to simulate an autonomous surface vehicle with an azimuthing thruster. I set up a basic model and want to apply a force to the thruster in the thruster's reference frame. What recommendations do you have for accomplishing this?

So far I have tried:

this->model->GetJoints()[0]->SetForce(0, 300);  // in this method I can't seem to control the direction.  Is it applying a torque and not a force maybe?


math::Vector3 force(100,0,0);
// this method seems to work, however,  it applies a force in the global x direction not the thruster x direction.