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yujinrobot / kobuki_desktop

Visualisation and simulation tools for Kobuki
http://www.ros.org/wiki/kobuki_desktop
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Problem of arm+kobuki in gazebo #57

Open tongtybj opened 5 years ago

tongtybj commented 5 years ago

Env: ros kinetic + gazebo 7

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

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 applies setForce()

Is it right?

TINY-KE commented 1 year ago

感谢