Ensure that sim_joints_ always has the same number of elements as the… #77
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… joint_names Otherwise a segfault occurs when some joints are not simulated by gazebo
ahcorde
requested changes
May 26, 2021
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This is happening because there are joints in the urdf file that are not simulated by gazebo, there are lots of reasons why this could be the case (in our case, it's due to hacks needed to get parallel grippers to move correctly). The alternative is to remove these joints from all of the vectors, reducing their size as the non-simulated joints are discovered. This is do-able but much more complicated, and as far as I can tell having the nulls in the sim_joints vector isn't causing any issues. |
ahcorde
requested changes
May 26, 2021
ahcorde
requested changes
May 28, 2021
ahcorde
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May 28, 2021
ahcorde
approved these changes
May 28, 2021
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… joint_names
Otherwise a segfault occurs when some joints are not simulated by gazebo.
Possbily the cause of #67