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

On Tue, Mar 30, 2010 at 9:26 PM, Antons Rebguns <arebgun@gmail.com> wrote:
-----BEGIN PGP SIGNED MESSAGE-----
Hash: SHA1

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
-----BEGIN PGP SIGNATURE-----
Version: GnuPG v1.4.10 (GNU/Linux)
Comment: Using GnuPG with Mozilla - http://enigmail.mozdev.org/

iEYEARECAAYFAkuyztkACgkQ1B2I24nMQmq+mwCgr6cVaHr6KsYbrLjqo7nIkOJO
ZJQAoKqcR7arLPgOlG9hb735Au8Sd1n0
=kIQi
-----END PGP SIGNATURE-----
_______________________________________________
ros-users mailing list
ros-users@code.ros.org
https://code.ros.org/mailman/listinfo/ros-users