Open osrf-migration opened 7 years ago
osrf-migration
commented
7 years ago Original comment by Peter Horak (Bitbucket: pchorak).
Some potential solution ideas:
osrf-migration
commented
7 years ago Original comment by Peter Horak (Bitbucket: pchorak).
Potential use cases for the ideas above:
The current harness example/test world only uses one joint.
If the model needs to be held in a particular configuration (e.g. arms out), creating and then detaching multiple harness joints could be useful.
If one harness joint provided a winch and another one held part of the model in place, it might make sense to detach the second joint but leave the winch joint so the model could still be moved with harness_velocity commands. This scenario seems somewhat unlikely to me. Also, the winch joint could be replaced with a joint in the model and a joint controller.
Thoughts?
Original report (archived issue) by Peter Horak (Bitbucket: pchorak).
The new ability to reattach a harness (pull request #2697) raises the question of how to treat harnesses with multiple joints. Currently, only one joint can be identified as detachable. Any other harness joints will remain after the harness is detached. If the harness is reattached, Gazebo will crash when the plugin fails to create the harness joints that still exist.