Update documentation in the linear battery plugin example. #1500
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Signed-off-by: Aditya <[email protected]>
adityapande-1995
requested review from
iche033,
azeey and
chapulina
as code owners
| @@ -28,7 +28,7 @@ | |||
| Stop recharging the battery using a topic (optional if <recharge_by_topic> is true): | |||
| ign topic -t /model/vehicle_blue/battery/linear_battery/recharge/stop -m ignition.msgs.Boolean -p 'data:true' | |||
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| The blue vehicle should stop when it runs out of battery. | |||
| After the battery runs out, no force is applied to the joints in the blue vehicle. It would keep on moving as there is no friction to stop it. | |||
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Alternatively, we can joint friction to the vehicles which would bring them to a stop. I still think what you added here is helpful. We can say:
After the battery runs out, no force is applied to the joints in the blue vehicle. It eventually comes to a stop due to friction in its joints. Had there been no joint friction, the vehicle would have kept on moving as Gazebo currently does not support rolling friction.
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Added here : cce79a3
chapulina
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Signed-off-by: Aditya <[email protected]>
Codecov Report
@@ Coverage Diff @@
## main #1500 +/- ##
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Coverage ? 35.01%
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Files ? 44
Lines ? 2356
Branches ? 0
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Hits ? 825
Misses ? 1531
Partials ? 0 Continue to review full report at Codecov.
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The errors in CI are unrelated to this PR : Windows errors are |
🦟 Bug fix
Fixes #1494
Summary
The blue vehicle does not stop moving when the battery runs out, its just that the forces applied at the joints become zero. The line "vehicle stops moving" in the sdf file is a bit misleading. The update explains the reason for the behavior.
Detailed discussion here : #1494
Checklist
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