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In order to get rid of unwanted behavior in Gazebo 7, I have installed Gazebo 9 in hopes of setting the preserveWorldVelocity flag. (Is "flag" the proper term?) I'm using roslaunch and xacro to start my simulation. In the robot xacro I have

<gazebo>
  <self_collide>1</self_collide>
</gazebo>

but trying something similar with

<preserveWorldVelocity>1</preserveWorldVelocity>

has no effect. Can you tell me how to set this flag so that using PositionJointInterface does not mean velocities are repeatedly cleared?

In order to get rid of unwanted behavior in Gazebo 7, I have installed Gazebo 9 in hopes of setting the preserveWorldVelocity flag. (Is "flag" the proper term?) I'm using roslaunch and xacro to start my simulation. In the robot xacro I have

<gazebo>
  <self_collide>1</self_collide>
</gazebo>

but trying something similar with

<preserveWorldVelocity>1</preserveWorldVelocity>

has no effect. Can you tell me how to set this flag so that using PositionJointInterface does not mean velocities are repeatedly cleared?

In order to get rid of unwanted behavior in Gazebo 7, I have installed Gazebo 9 in hopes of setting the preserveWorldVelocity flag. (Is "flag" the proper term?) I'm using roslaunch and xacro to start my simulation. In the robot xacro I have

<gazebo>
  <self_collide>1</self_collide>
</gazebo>

but trying something similar with

<preserveWorldVelocity>1</preserveWorldVelocity>

has no effect. Can you tell me how to set this flag so that using PositionJointInterface does not mean velocities are repeatedly cleared?