我正在尝试阅读gazebosim中某些关节的作用力，但是当我从1.9升级到2.2.2版本后，它不再起作用了。
SDF文件：
假
<link name='left_foot'>
<pose>0 0.255502204764 0.04 0 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<inertia>
<ixx>0.0075</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.00</iyy>
<iyz>0</iyz>
<izz>0.00</izz>
</inertia>
<mass>2.25</mass>
</inertial>
<collision name='left_foot_collision'>
<geometry>
<box>
<size>.1 .2 .08</size>
</box>
</geometry>
<surface>
<bounce>
<restitution_coefficient> 0.0 </restitution_coefficient>
<threshold> 1000000000 </threshold>
</bounce>
</surface>
</collision>
<visual name='left_foot_visual'>
<geometry>
<box>
<size>.1 .2 .08</size>
</box>
</geometry>
</visual>
</link>
<link name='leftlower_leg'>
<pose>0 0.294832856462 0.221086146856 6.01787954503 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<inertia>
<ixx>0.0225</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0225</iyy>
<iyz>0</iyz>
<izz>0.0225</izz>
</inertia>
<mass>3.</mass>
</inertial>
<collision name='leftlower_leg_collision'>
<geometry>
<box>
<size>.1 .1 .3</size>
</box>
</geometry>
<surface>
<bounce>
<restitution_coefficient> 0.0 </restitution_coefficient>
<threshold> 1000000000 </threshold>
</bounce>
</surface>
</collision>
<visual name='leftlower_leg_visual'>
<geometry>
<box>
<size>.1 .1 .3</size>
</box>
</geometry>
</visual>
</link>
<link name='leftupper_leg'>
<pose>0 0.241130401436 0.542882746013 6.76700690559 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<inertia>
<ixx>0.0533</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0533</iyy>
<iyz>0</iyz>
<izz>0.0533</izz>
</inertia>
<mass>4.</mass>
</inertial>
<collision name='leftupper_leg_collision'>
<geometry>
<box>
<size>.1 .1 .4</size>
</box>
</geometry>
<surface>
<bounce>
<restitution_coefficient> 0.0 </restitution_coefficient>
<threshold> 1000000000 </threshold>
</bounce>
</surface>
</collision>
<visual name='leftupper_leg_visual'>
<geometry>
<box>
<size>.1 .1 .4</size>
</box>
</geometry>
</visual>
</link>
<link name='right_foot'>
<pose>0 0.0 0.04 0 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<inertia>
<ixx>0.0075</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0</iyy>
<iyz>0</iyz>
<izz>0.0</izz>
</inertia>
<mass>2.25</mass>
</inertial>
<collision name='right_foot_collision'>
<geometry>
<box>
<size>.1 .2 .08</size>
</box>
</geometry>
<surface>
<bounce>
<restitution_coefficient> 0.0 </restitution_coefficient>
<threshold> 1000000000 </threshold>
</bounce>
</surface>
</collision>
<visual name='right_foot_visual'>
<geometry>
<box>
<size>.5 .2 .08</size>
</box>
</geometry>
</visual>
</link>
<link name='rightlower_leg'>
<pose>0 0.0892702896712 0.200543831788 2.50415869759 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<inertia>
<ixx>0.0225</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0225</iyy>
<iyz>0</iyz>
<izz>0.0225</izz>
</inertia>
<mass>3.</mass>
</inertial>
<collision name='rightlower_leg_collision'>
<geometry>
<box>
<size>.1 .1 .3</size>
</box>
</geometry>
<surface>
<bounce>
<restitution_coefficient> 0.0 </restitution_coefficient>
<threshold> 1000000000 </threshold>
</bounce>
</surface>
</collision>
<visual name='rightlower_leg_visual'>
<geometry>
<box>
<size>.1 .1 .3</size>
</box>
</geometry>
</visual>
</link>
<link name='rightupper_leg'>
<pose>0 0.163318937026 0.520507576335 3.21777453298 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<inertia>
<ixx>0.0533</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0533</iyy>
<iyz>0</iyz>
<izz>0.0533</izz>
</inertia>
<mass>4.</mass>
</inertial>
<collision name='rightupper_leg_collision'>
<geometry>
<box>
<size>.1 .1 .4</size>
</box>
</geometry>
<surface>
<bounce>
<restitution_coefficient> 0.0 </restitution_coefficient>
<threshold> 1000000000 </threshold>
</bounce>
</surface>
</collision>
<visual name='rightupper_leg_visual'>
<geometry>
<box>
<size>.1 .1 .4</size>
</box>
</geometry>
</visual>
</link>
<joint type="revolute" name="right_ankle_hinge">
<physics>
<ode>
<provide_feedback>true</provide_feedback>
</ode>
</physics>
<pose>0 0.0 0.15 0 0 0</pose>
<child>rightlower_leg</child>
<parent>right_foot</parent>
<axis>
<xyz>1 0 0</xyz>
</axis>
</joint>
<joint type="revolute" name="right_knee_hinge">
<physics>
<ode>
<provide_feedback>true</provide_feedback>
</ode>
</physics>
<pose>0 0 0.2 0 0 0</pose>
<child>rightupper_leg</child>
<parent>rightlower_leg</parent>
<axis>
<xyz>1 0 0</xyz>
</axis>
</joint>
<joint type="revolute" name="hip_hinge">
<physics>
<ode>
<provide_feedback>true</provide_feedback>
</ode>
</physics>
<pose>0 0 0.2 0 0 0</pose>
<child>leftupper_leg</child>
<parent>rightupper_leg</parent>
<axis>
<xyz>1 0 0</xyz>
</axis>
</joint>
<joint type="revolute" name="left_knee_hinge">
<physics>
<ode>
<provide_feedback>true</provide_feedback>
</ode>
</physics>
<pose>0 0 0.15 0 0 0</pose>
<child>leftlower_leg</child>
<parent>leftupper_leg</parent>
<axis>
<xyz>1 0 0</xyz>
</axis>
</joint>
<joint type="revolute" name="left_ankle_hinge">
<physics>
<ode>
<provide_feedback>true</provide_feedback>
</ode>
</physics>
<pose>0 0 0.04 0 0 0</pose>
<child>left_foot</child>
<parent>leftlower_leg</parent>
<axis>
<xyz>1 0 0</xyz>
</axis>
</joint>
<plugin name="set_joints" filename="build/libmy_robot.so"/>
</model>
</sdf>
和插件：
＃包括
＃包括
＃包括
//＃include // denne er在bruge getsimtime添加
＃包括
＃包括
#include //您自己添加的睡眠功能
#include //您添加的这两行使用了getforcetorque函数
#include //您添加的这两行使用了getforcetorque函数
＃包括
＃包括
int a=0;
int b;
double angle;
double currenttime;
double PI = 3.141592654;
double pi=3.14159265359;
namespace gazebo
{
class SetJoints : public ModelPlugin
{
public: void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/)
{
// Store the pointer to the model
this->model = _parent;
//this->j2_controller = new physics::JointController(model);
this->jointleftankle_ = this->model->GetJoint("left_ankle_hinge");
this->jointrightankle_ = this->model->GetJoint("right_ankle_hinge");
this->jointleftknee_ = this->model->GetJoint("left_knee_hinge");
this->jointrightknee_ = this->model->GetJoint("right_knee_hinge");
this->jointhip_ = this->model->GetJoint("hip_hinge");
//j2_controller->SetJointPosition(this->model->GetJoint("hip_hinge"), 0.0);
// Listen to the update event. This event is broadcast every
// simulation iteration.
this->updateConnection = event::Events::ConnectWorldUpdateBegin(
boost::bind(&SetJoints::OnUpdate, this, _1));
}
// Called by the world update start event
public: void OnUpdate(const common::UpdateInfo & /*_info*/)
{
common::Time current_time = this->model->GetWorld()->GetSimTime();//her henter du simtime
double initialrightanklepos=0.93336237079397688;
double initialrightkneepos=0.71361583539276363;
double initialhippos=3.5492323726052324;
double initialleftkneepos=0.82166896624278996-PI/2.;
double initialleftanklepos=+(initialrightanklepos+initialrightkneepos+initialhippos+initialleftkneepos)-1.*PI;
double dt = current_time.Double()
- this->last_update_time_.Double();
physics::JointWrench wrenchleftankle = this->jointleftankle_->GetForceTorque(0);
physics::JointWrench wrenchrightankle = this->jointrightankle_->GetForceTorque(0);
//physics::JointWrench wrenchleftknee = this->jointleftknee_->GetForceTorque(0);
//physics::JointWrench wrenchrightknee = this->jointrightknee_->GetForceTorque(0);
//physics::JointWrench wrenchhip = this->jointhip_->GetForceTorque(0);
//double test1 = wrenchrightankle.body1Force.z;
//double test2 = wrenchleftankle.body2Force.z;
//printf("right ankle z:%lf\t left ankle z:%lf\n",test1, test2);
this->last_update_time_ = current_time;
a++;
}
common::Time last_update_time_;
// Pointer to the model
private: physics::ModelPtr model;
// Pointer to the update event connection
private: event::ConnectionPtr updateConnection;
//private: physics::JointController * j2_controller;
//common::Time last_update_time_; Denne er ikke nødvendig.
//ting til at gemme joint_ i
physics::JointPtr jointleftankle_;
physics::JointPtr jointrightankle_;
physics::JointPtr jointleftknee_;
physics::JointPtr jointrightknee_;
physics::JointPtr jointhip_;
//physics::JointPtr joint;
};
// Register this plugin with the simulator
GZ_REGISTER_MODEL_PLUGIN(SetJoints)
}
我得到错误：
警告[ODEJoint.cc:1105] GetForceTorque：忘记设置？
在终端上打印。
最佳答案
我发现了错误：
<joint type="revolute" name="left_ankle_hinge">
<physics>
<ode>
<provide_feedback>true</provide_feedback>
</ode>
</physics>
<pose>0 0 0.04 0 0 0</pose>
<child>left_foot</child>
<parent>leftlower_leg</parent>
<axis>
<xyz>1 0 0</xyz>
</axis>
</joint>
应该更改为：
<joint type="revolute" name="left_ankle_hinge">
<physics>
<provide_feedback>true</provide_feedback>
</physics>
<pose>0 0 0.04 0 0 0</pose>
<child>left_foot</child>
<parent>leftlower_leg</parent>
<axis>
<xyz>1 0 0</xyz>
</axis>
</joint>