0
$\begingroup$

Rosanswers logo

Hi all,

I am trying to apply force torque sensor plugin in a fixed joint in Gazebo. I am trying to use the tag

<disableFixedJointLumping>true</disableFixedJointLumping>

But It didn't work.

<gazebo reference="FT_Top_Joint_right"> <provideFeedback>true</provideFeedback> <disableFixedJointLumping>true</disableFixedJointLumping> </gazebo> <gazebo reference="FT_Top_Joint_right"> <provideFeedback>true</provideFeedback> <disableFixedJointLumping>true</disableFixedJointLumping> </gazebo> <joint name="FT_Top_Joint_right" type="fixed"> <origin xyz="0.00085087 -0.00087515 -0.0030305" rpy="3.1416 5.017E-16 1.5708" /> <parent link="FT_right" /> <child link="FT_Top_Plate_right" /> </joint> 
[FATAL] [1483501801.768755712, 0.347000000]: gazebo_ros_ft_sensor plugin error: jointName: FT_Top_Joint_right does not exist

So I found that disableFixedJointLumping didn't work.

I know that the "disableFixedJointLumping" option has been solved here osrf/sdformat/pull-requests/133/added-urdf-gazebo-extension-option-to/diff, but I still don't know how to update the urdf_parser.

I am using the OS: Ubuntu 14.04 , ROS version: indigo , Gazebo version: 2.2

Ben

Originally posted by linhongbin on ROS Answers with karma: 31 on 2017-01-03

Post score: 3

Improve this question
$\endgroup$

1 Answer 1

Reset to default
0
$\begingroup$

Rosanswers logo

The disableFixedJointLumping option was added in sdformat 2.0, while Gazebo 2 uses sdformat 1.x [1]. If you want to use the disableFixedJointLumping option, please use a more recent version of Gazebo as documented in http://gazebosim.org/tutorials/?tut=ros_wrapper_versions .

[1] : http://packages.ros.org/ros/ubuntu/lists/ros-indigo-trusty-amd64_trusty_main_amd64_Packages

Originally posted by Silvio Traversaro with karma: 56 on 2017-02-27

This answer was ACCEPTED on the original site

Post score: 1

Original comments

Comment by CroCo on 2023-05-13:
What is the option for Gazebo 9?

Improve this answer
$\endgroup$