{"action":"created","issue":{"url":"https://api.github.com/repos/ros-simulation/gazebo_ros_pkgs/issues/690","repository_url":"https://api.github.com/repos/ros-simulation/gazebo_ros_pkgs","labels_url":"https://api.github.com/repos/ros-simulation/gazebo_ros_pkgs/issues/690/labels{/name}","comments_url":"https://api.github.com/repos/ros-simulation/gazebo_ros_pkgs/issues/690/comments","events_url":"https://api.github.com/repos/ros-simulation/gazebo_ros_pkgs/issues/690/events","html_url":"https://github.com/ros-simulation/gazebo_ros_pkgs/issues/690","id":306513590,"number":690,"title":"gazebo ros control using joint velocity interface can't work with gazebo 9 with dart physics engine","user":{"login":"jacknlliu","id":6220143,"avatar_url":"https://avatars1.githubusercontent.com/u/6220143?v=4","gravatar_id":"","url":"https://api.github.com/users/jacknlliu","html_url":"https://github.com/jacknlliu","followers_url":"https://api.github.com/users/jacknlliu/followers","following_url":"https://api.github.com/users/jacknlliu/following{/other_user}","gists_url":"https://api.github.com/users/jacknlliu/gists{/gist_id}","starred_url":"https://api.github.com/users/jacknlliu/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/jacknlliu/subscriptions","organizations_url":"https://api.github.com/users/jacknlliu/orgs","repos_url":"https://api.github.com/users/jacknlliu/repos","events_url":"https://api.github.com/users/jacknlliu/events{/privacy}","received_events_url":"https://api.github.com/users/jacknlliu/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":1,"created_at":"2018-03-19T15:33:21Z","updated_at":"2018-04-02T07:29:03Z","closed_at":null,"author_association":"NONE","body":"Gazebo ros control can't work with gazebo 9 with dart physics engine.  The robot defined from URDF can't keep joint position in this context.\r\n\r\nWe found that ros control using joint velocity interface will write joint command use [` sim_joints_[j]->SetParam(\"vel\")`](https://github.com/ros-simulation/gazebo_ros_pkgs/blob/kinetic-devel/gazebo_ros_control/src/default_robot_hw_sim.cpp#L345), but the `vel` key-value is not implement in gazebo dart engine, see [ gazebo / physics / dart](https://bitbucket.org/osrf/gazebo/src/25df4fb10d33a9baaccdf4d48f99ca7fd4f26584/gazebo/physics/dart/DARTJoint.cc?at=default&fileviewer=file-view-default#DARTJoint.cc-559) .\r\n\r\nSo the velocity interface will not work correctly with dart engine. "},"comment":{"url":"https://api.github.com/repos/ros-simulation/gazebo_ros_pkgs/issues/comments/377874553","html_url":"https://github.com/ros-simulation/gazebo_ros_pkgs/issues/690#issuecomment-377874553","issue_url":"https://api.github.com/repos/ros-simulation/gazebo_ros_pkgs/issues/690","id":377874553,"user":{"login":"jacknlliu","id":6220143,"avatar_url":"https://avatars1.githubusercontent.com/u/6220143?v=4","gravatar_id":"","url":"https://api.github.com/users/jacknlliu","html_url":"https://github.com/jacknlliu","followers_url":"https://api.github.com/users/jacknlliu/followers","following_url":"https://api.github.com/users/jacknlliu/following{/other_user}","gists_url":"https://api.github.com/users/jacknlliu/gists{/gist_id}","starred_url":"https://api.github.com/users/jacknlliu/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/jacknlliu/subscriptions","organizations_url":"https://api.github.com/users/jacknlliu/orgs","repos_url":"https://api.github.com/users/jacknlliu/repos","events_url":"https://api.github.com/users/jacknlliu/events{/privacy}","received_events_url":"https://api.github.com/users/jacknlliu/received_events","type":"User","site_admin":false},"created_at":"2018-04-02T07:29:03Z","updated_at":"2018-04-02T07:29:03Z","author_association":"NONE","body":"Could we get the physics engine name from gazebo API?  or we should file an issue with gazebo repo."}}
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