On Fri, Jan 14, 2011 at 12:28 PM, Andy Somerville
<andy.somerville@resquared.com> wrote:
>
> I should add for anyone else solving the same problem that there is
> some extra urdf that is necessary to get the feedback without which a
> call to any feedback related function will segfault.
>
>    <gazebo reference="DarmSim/${side}Arm/WAM/LowerWristYawJoint">
>        <provideFeedback value="true"/>
>    </gazebo>
>
> The provideFeedback tag must be declared as demonstrated, and not
> inside the joint declaration itself or it won't be registered.
>
> I'll file a separate bug report regarding the segfault.
>
>    Andrew
>

I filed a bug report here, (but I suppose I should have filed it with
upstream gazebo):

  https://code.ros.org/trac/ros-pkg/ticket/4680

Are patches accepted/desired in case it doesn't get fixed upstream?

    Andrew