Notes - MarkDerige/Mildread2015-Gazebo GitHub Wiki

2016-12-11

In order to get the omni-wheels to work correctly, Gazebo 6.6 must be installed with the following fix. https://bitbucket.org/osrf/gazebo/issues/2068/directional-friction-still-broken

Gazebo installation instructions can be found here: http://gazebosim.org/tutorials?tut=install_from_source

I installed with the following installation versions. Set with "$ hg up "

  • Ignition Math: ign-math2
  • SDFormat: sdf3
  • Gazebo: gazebo6

Change made to: /tmp/gazebo/gazebo/physics/ode/ODEPhysics.cc

diff -r 6d8c132aef65 gazebo/physics/ode/ODEPhysics.cc
--- a/gazebo/physics/ode/ODEPhysics.cc Fri Oct 07 14:51:19 2016 -0700
+++ b/gazebo/physics/ode/ODEPhysics.cc Sun Dec 11 20:57:31 2016 -0500
@@ -1098,6 +1098,7 @@ { // fdir1 is in body local frame, rotate it into world frame
fd = _collision1->GetWorldPose().rot.RotateVector(fd);
+ fd = _collision1->GetModel()->GetWorldPose().rot.RotateVector(fd);
}

/// \TODO: Better treatment when both surfaces have fdir1 specified.

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