when I use hardware_interface/EffortJointInterface for joint transmission_interface/SimpleTransmission,
following error can be found when start gazebo:
[ WARN] [1537083452.199473832, 0.330000000]: Gazebo ROS Kobuki plugin: NaN in d1. Step time: 0.01, WD: 0.07, velocity: -nan
[ WARN] [1537083452.199515712, 0.330000000]: Gazebo ROS Kobuki plugin: NaN in d2. Step time: 0.01, WD: 0.07, velocity: -nan
[ WARN] [1537083452.299705087, 0.430000000]: Gazebo ROS Kobuki plugin: NaN in d1. Step time: 0.01, WD: 0.07, velocity: -nan
[ WARN] [1537083452.299738738, 0.430000000]: Gazebo ROS Kobuki plugin: NaN in d2. Step time: 0.01, WD: 0.07, velocity: -nan
Env: ros kinetic + gazebo 7
when I use
hardware_interface/EffortJointInterface
for jointtransmission_interface/SimpleTransmission
, following error can be found when start gazebo:I guess, the reason is we have to ensure the consistency of kobuki wheel hardware interface and joint interface in gazebo, and kobuki wheel hardware is based on velocity as implemented in https://github.com/yujinrobot/kobuki_desktop/blob/devel/kobuki_gazebo_plugins/src/gazebo_ros_kobuki_updates.cpp#L230-L231.
So we can not choose
hardware_interface/EffortJointInterface
, which appliessetForce()
Is it right?