Wrenches aren't transformed by reference frame

ros-simulation / gazebo_ros_pkgs

Wrappers, tools and additional API's for using ROS with Gazebo

http://wiki.ros.org/gazebo_ros_pkgs

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Wrenches aren't transformed by reference frame #310

Open KyleKotowick opened 9 years ago

KyleKotowick commented 9 years ago

When using the "apply_body_wrench" service on a model, the wrench force is not properly transformed to the given "reference_frame" and forces are only applied in relation to the world frame. The transformation is done correctly with the "set_model_state" service with linear twist though, so it's at least implemented somewhere.

khaiyichin commented 4 years ago

Is this going to be addressed any time soon?