[ros-users] gazebo and diffdrive plugin, weird behavior

[Antons Rebguns]

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John,

Thanks, that works!

Anton

On 03/31/2010 12:25 AM, John Hsu wrote:
> 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 at gmail.com
> <mailto:arebgun at gmail.com>> wrote:
> 
> 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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