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Publish Joint forces #2369
base: gz-sim8
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Publish Joint forces #2369
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do you mind to sign the commit ?
Signed-off-by: Davide Graziato <[email protected]>
Signed-off-by: Davide Graziato <[email protected]>
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Also, can you please add a test? |
I have just made a PR in gz-physics in order to populate the force fields while using bullet-featherstone. I added some information on how to test the code there (I have reported them here also). |
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looks good to me
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Also, can you please add a test?
oh just saw that a test was requested.
#include "gz/sim/components/JointVelocity.hh" | ||
#include "gz/sim/components/JointVelocityCmd.hh" | ||
#include "gz/sim/components/JointVelocityLimitsCmd.hh" | ||
#include "gz/sim/components/JointVelocityReset.hh" | ||
#include "gz/sim/components/JointForce.hh" |
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CI warning:
"gz/sim/components/JointForce.hh" already included at /github/workspace/src/systems/physics/Physics.cc:119
@Fixit-Davide we are now in Feature freeze for Gazebo Ionic. Since PR is already open, I've applied the |
To focus our efforts on the Ionic release, I'll go ahead and remove the |
🦟 Bug fix
Fixes #883
Summary
These changes should allow to obtain information regarding the forces applied to the joints.
Test it
gz sim --physics-engine gz-physics-bullet-featherstone-plugin lift_drag.sdf
simulation.gz topic -t "/model/lift_drag_demo_model/joint/rod_1_joint/cmd_force" -m gz.msgs.Double -p "data: 0.8"
).gz topic -e -t /world/lift_drag/model/lift_drag_demo_model/joint_state
Checklist
codecheck
passed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-by
messages.