Hi Anton,
indeed there was a bug. Following patch applied to gazebo/gazebo-svn/server/physics/ode/ODEHingeJoint.cc should fix the issue. I'll ticket this and make a release patch.
Index: server/physics/ode/ODEHingeJoint.cc
===================================================================
--- server/physics/ode/ODEHingeJoint.cc (revision 8600)
+++ server/physics/ode/ODEHingeJoint.cc (working copy)
@@ -129,7 +129,7 @@
/// Set the velocity of an axis(index).
void ODEHingeJoint::SetVelocity(int /*index*/, double angle)
{
- this->SetParam(angle, dParamVel);
+ this->SetParam(dParamVel,angle);
}
//////////////////////////////////////////////////////////////////////////////
Thanks!
John
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Folks,
I am running from the "latest" tag with Gazebo simulator at rev 28511 (i.e. it's an unstable version 1.1.1). I have a
pretty weird problem when adding my robot to the environment - the robot jumps around for a few seconds until settles
down. It used to work fine in stable version of gazebo.
The problem seems to be in gazebo_ros_diffdrive plugin. If I comment out line 95:
this->posIface->data->cmdEnableMotors = 1;
then it does not jump around and starts up normally, but then of course I can't control it. Here is the link to the
video of what's happening exactly:
http://one.ubuntu.com/p/Md/
Any ideas on what might be happening?
Thanks,
Anton
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