gazebo 3.0 ODE screw joint limit error correction term error

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Original report (archived issue) by John Hsu (Bitbucket: hsu, GitHub: hsu).

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We introduced an error when refactoring screw constraint in gazebo_3.0,

lin_error was specified in angular form:

        lin_err = -(lin_disp*thread_pitch-cumulative_angle);

but it should be in linear displacements

        lin_err = -(lin_disp-cumulative_angle/thread_pitch);

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Original comment by John Hsu (Bitbucket: hsu, GitHub: hsu).

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pull request #1070

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Original comment by John Hsu (Bitbucket: hsu, GitHub: hsu).

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without this patch, pr2 model perturbed a certain way will become unstable, as captured in the regression test introduced in pull request #1070.

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Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

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• changed state from "new" to "resolved"

pull request #1070

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Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

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• set version to "all"

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Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

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• changed state from "resolved" to "closed"