nerdOmat's profile - activity

Thank you for your help. Nice. I tested it and I suppose it is not enabled, what is not bad. It was just important to know. I have solved this by an own approach, what is perfectly suitable for my application. Will future versions of the gazebo API support this enable/disable gyroscopic effect functions?

Hm, I still have no sulution about this.

Does nobody else face this problem, or do you need more information? I would be really relieved if you can help me out.

Kind regards andi

I have an IMU in my model. I have the following behaviour:

• I apply a force in z-direction bigger than g to a the model. The body is lifted and the IMU shows the correct acceleration in z-direction.
• Additionally I add a torque in x-direction to the same model after it has been lifted after some time. The body will sink since the force on the body in z-direction is split in a component, which lifts the body and a component, which accelerates the body in x-direction. Also this increasing acceleration in x-direction is being shown correctly by the IMU sensor.
• When I now remove all forces, the body falls on the floor. But now I encountered the problem, that the IMU in x-direction oszillates +/- around the last value the IMU had, before it hits the ground.

What could be the reason for this? Actually the acceleration in x-direction should be set zero by the end, since the acceleration on the body in x-direction should have been neutralized by the friction.

Kind regards andi

Does gazebosim support gyroscopic effect on rotating masses? If yes, which physics engine does support this?

Kind regards Andi

Hello,

I read the plugin tutorial: http://gazebosim.org/wiki/Tutorials/1.9/plugins/overview

Here it says that there are four types of plugins - world - model - sensor - system. It further says that each plugin is a compiled shared library. Its path is added to LDLIBRARYPATH (so it will be found by gazebosim) and its name is given to the sdf file at the according position (world/model/sensor/system). I tested this for both, a sensor plugin and a model plugin. It could successfully read sensor values by my code and also could control the model. It works fine.

Now I want write an algorithm which reads sensor values and uses them to control the model in a certain way. However I am puzzled how to do this.

Is it possible to write a plugin containing code, that controls both, the sensor and the model at the same time?

I would be pleased if you have any idea how to do this.

Kind regards Andi

Thank you. This information is very helpful.

Thank you. I am new to gazebosim. I figured out how to change the physics engine by a world-plugin. But since ODE is the one I want, I will try to avoid writing a world-plugin for now and and concentrate on the model-plugins.

Gazebo supports 4 physics engines. How do I find out which one of these four my compilation is using?

I would be pleased if you can help me out.

Kind regards Andi