search

pal-robotics / gazebo_ros_link_attacher

Attach two Gazebo models with a virtual joint in a generalized grasp hack
120 stars 67 forks source link

Not able to detach #15

Open SaailN opened 3 years ago

SaailN commented 3 years ago

I wanted to create a temporary joint with respect to ground. So using gazebo_ros_link_attacher I was able to attach model object with ground(world model) but not able to detach it.

TheRealTechWiz commented 3 years ago

Any updates? rosservice call /link_attacher_node/attach "model_name_1: 'unit_box_1' link_name_1: 'link' model_name_2: 'unit_sphere_1' link_name_2: 'link'" Above script does work for attaching the object to ground. rosservice call /link_attacher_node/detach "model_name_1: 'unit_box_1' link_name_1: 'link' model_name_2: 'unit_sphere_1' link_name_2: 'link'" But this script fails to detach the object from the ground.

Lincoln-Boer commented 3 years ago

I was facing a similar problem earlier while trying to attach a tool to a support and, after some time, position the robot correctly, attach the tool to the robot and finally detach from the support. I only figured it out because the tool would detach from the robot correctly but not from the support, so the problem was that the support was a static model. After setting static to false in the sdf of the support, everything worked.

I guess the world is also a fixed model, therefore a possible solution would be to attach the model to a not static object. It could be a small box with a huge mass, so it would probably not move and not even being seen depending on where you put it.

awesomebytes commented 3 years ago

I can only propose to put another object on top of the floor that is very heavy and try to attach/detach from that one.

I say this because I remember having some issue with the floor being 'special' somehow, I don't know why. But it has been a long while from when I had the opportunity to look back into this package. Sorry.

On Thu, 14 Oct 2021 at 12:25, Lincoln-Boer @.***> wrote:

Facing the same problem, couldn't solve it yet.

Any help would be very appreciated

— You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub https://github.com/pal-robotics/gazebo_ros_link_attacher/issues/15#issuecomment-942855512, or unsubscribe https://github.com/notifications/unsubscribe-auth/AANEK5BK3UY52IXPXGO2A7LUGYWQ7ANCNFSM4WVQTZ4Q .

--

Sammy Pfeiffer PhD in Software Engineering from the University of Technology Sydney. Autonomous Vehicle Technical Lead in Conigital.