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Creating a Constant Force Spring

Hi all,

I am trying to make a prismatic joint into a constant force spring.

Does there exist a way to do this using Gazebo parameters?

If not, I am trying to write my own C++ code to read in the force on the joint/link and add a constant force, k, against it; however, I have been unable to read the force being applied. There seems to be gazebo::physics::joint::getForceTorque() and gazebo::physics::joint::getForce(), but a look at the source code shows these to be incomplete:

https://bitbucket.org/osrf/gazebo/src/default/gazebo/physics/Joint.hh https://bitbucket.org/osrf/gazebo/src/default/gazebo/physics/Joint.cc

Is there something I may be missing? Has anyone else attempted to build something similar before?

Thank you in advance.

Creating a Constant Force Spring

Hi all,

I am trying to make a prismatic joint into a constant force spring.

Does there exist a way to do this using Gazebo parameters?

If not, I am trying to write my own C++ code to read in the force on the joint/link and add a constant force, k, against it; however, I have been unable to read the force being applied. There seems to be gazebo::physics::joint::getForceTorque() and gazebo::physics::joint::getForce(), but a look at the source code shows these to be incomplete:

https://bitbucket.org/osrf/gazebo/src/default/gazebo/physics/Joint.hh https://bitbucket.org/osrf/gazebo/src/default/gazebo/physics/Joint.cc

Is there something I may be missing? Has anyone else attempted to build something similar before?

Thank you in advance.

Creating a Constant Force Spring

Hi all,

I am trying to make a prismatic joint into a constant force spring.

Does there exist a way to do this using Gazebo parameters?

If not, I am trying to write my own C++ code to read in the force on the joint/link and add a 200N constant force, k, force against it; however, I have been unable to read the force being applied. There seems to be gazebo::physics::joint::getForceTorque() and gazebo::physics::joint::getForce(), but a look at the source code shows these to be incomplete:

https://bitbucket.org/osrf/gazebo/src/default/gazebo/physics/Joint.hh https://bitbucket.org/osrf/gazebo/src/default/gazebo/physics/Joint.cc

Is there something I may be missing? Has anyone else attempted to build something similar before?

Thank you in advance.