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2018-02-28 06:05:04 -0500 commented answer Setting initial velocity in plugin

I added some extra information to the question, since it doesn't fit in a comment.

2018-02-28 06:04:00 -0500 edited question Setting initial velocity in plugin

Setting initial velocity in plugin I am trying to have a model rotate along a Lissajous curve. I am using torques to set

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2018-02-21 06:45:34 -0500 commented answer Setting initial velocity in plugin

Perhaps I should also add that the element that I am trying to give an initial velocity has gravity turned off, and is f

2018-02-21 06:42:11 -0500 commented answer Setting initial velocity in plugin

I was a little premature with my previous comment. Making it kinematic obviously disables the friction, but setting the

2018-02-21 05:49:12 -0500 marked best answer Setting initial velocity in plugin

I am trying to have a model rotate along a Lissajous curve. I am using torques to set the angular acceleration to be able to simulate this movement.

For this to work, I have to set the initial angular velocity.

I tried this by adding a parameter which checks if the update method has run before, and then set the angular velocity the first time the Update method of the plugin is called.

if (!this->dataPtr->runOnce){
    this->dataPtr->link->SetAngularVel({0,50,0});
    this->dataPtr->runOnce = true;
}

However, if I print out the

this->dataPtr->link->WorldAngularVel()

I can see that it is set, but the next time the Update method is called, it is already set to a value close to zero.

Just to be sure I added a delay before setting the torques, but they don't have any influence on the initial value, so they must be reset somewhere else...

Any idea what I am doing wrong?

EDIT 1 Based on the comments some additional information:

Each timestep I set the forces/torques working on the model. If I do not set an initial velocity, I can see that my velocity changes each timestep according to the formula v = v0 + a*dT, with a = F/m. I set the mass of the model to 1 for easy calculation of the required force.

However, if I do set the initial velocity (using the instantaneous method) I can see that in t=0, the velocity is set to the requested value, but that in the next timestep, the velocity is calculated as in the formula above, but with v0 = 0 instead of v0 = "the requested value"

I want to have my model move according to a set pattern, and for this to work I need to be able to set an initial velocity.

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2018-02-21 05:48:41 -0500 commented answer Setting initial velocity in plugin

Thank you very much! I totally missed that the default values for mu1 and mu2 are set to the max friction. Both solution

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2018-02-12 05:43:41 -0500 commented answer Setting initial velocity in plugin

Your answer does not make sense to me. In a friction-less environment you would expect a velocity to stay constant, sinc

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2018-02-07 03:19:47 -0500 asked a question Setting initial velocity in plugin

Setting initial velocity in plugin I am trying to have a model rotate along a Lissajous curve. I am using torques to set

2018-01-19 08:43:49 -0500 asked a question Building gazebo and ros from source using catkin

Building gazebo and ros from source using catkin Hi all, I need to build gazebo 8 from source, since I am working on th

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2017-09-08 03:27:01 -0500 asked a question imu sensor on actor not recording angular velocity

imu sensor on actor not recording angular velocity Hi, I added an imu sensor to a link placed in an animated actor obje

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2017-08-24 07:02:39 -0500 asked a question Gazebo 8 installation with ROS integration

Gazebo 8 installation with ROS integration I'll start with saying that this may be a newbie question, but the current in

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2017-06-09 03:02:27 -0500 edited answer sdformat modifications

To answer my own question: The following code is part of the SearchForStuff.cmake file from gazebo # Find SDFormat set

2017-06-09 02:57:32 -0500 answered a question sdformat modifications

To answer my own question: The following code is part of the SearchForStuff.cmake file from gazebo # Find SDFormat set

2017-06-08 09:01:22 -0500 asked a question sdformat modifications

sdformat modifications I am trying to add a new sensor type to gazebo (UWB). I have made all the required modifications