gazebo gravity compensation not work correctly

Create issue
Issue #2442 new
Jack Liu created an issue

I test the following world file with gazebo 9 which is built from source with DART. But the robot robonaut which has gravity compensation also failed to hold its pose after a few seconds.

<?xml version="1.0"?>
<sdf version="1.5">
  <world name="default">
    <include>
      <uri>model://ground_plane</uri>
    </include>
    <include>
      <uri>model://sun</uri>
    </include>
    <include>
      <uri>model://robonaut</uri>
      <name>r2_grav_comp</name>
      <pose>0 -2 0 0 0 0</pose>
      <plugin name="gravity_compensation" filename="libGravityCompensationPlugin.so">
        <uri>model://robonaut</uri>
      </plugin>
    </include>
    <include>
      <uri>model://robonaut</uri>
      <pose>2 0 0 0 0 -1.57</pose>
    </include>
  </world>
</sdf>

Comments (0)

  1. Log in to comment