Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Update documentation in the linear battery plugin example. #1500

Merged
merged 3 commits into from
May 26, 2022
Merged
Changes from 1 commit
Commits
File filter

Filter by extension

Filter by extension

Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
Prev Previous commit
Added joint friction and updated the comment
Signed-off-by: Aditya <[email protected]>
adityapande-1995 committed May 25, 2022
commit cce79a3a64c6deb53bde1e29c351438516b64da3
10 changes: 9 additions & 1 deletion examples/worlds/linear_battery_demo.sdf
Original file line number Diff line number Diff line change
@@ -28,7 +28,9 @@
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'

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.
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.
The green vehicle will not stop with recharge function.

-->
@@ -434,6 +436,9 @@
<child>left_wheel_blue</child>
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<friction>0.2</friction>
</dynamics>
<limit>
<lower>-1.79769e+308</lower>
<upper>1.79769e+308</upper>
@@ -446,6 +451,9 @@
<child>right_wheel_blue</child>
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<friction>0.2</friction>
</dynamics>
<limit>
<lower>-1.79769e+308</lower>
<upper>1.79769e+308</upper>