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Enable Gravity for Baxter #108

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davetcoleman opened this issue Feb 24, 2017 · 1 comment
Open

Enable Gravity for Baxter #108

davetcoleman opened this issue Feb 24, 2017 · 1 comment

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@davetcoleman
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Gravity is only enabled for the base of the robot and not the arms, see comment. Is there a reason for this? I think it should be enabled again
@davetcoleman
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davetcoleman commented Feb 24, 2017 •
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Clarification after further investigation... in the baxter.urdf.xacro file gravity is by default enabled for all links. However, on initialization of the simulator, the baxter_emulator node permanently disables gravity on the arm links so as to "eliminate the need for gravity compensation". However, I think this is a poor hack in that, if you disable the robot, gravity will still be disabled.

Is there a reason KDL wasn't used to properly do gravity compensation in the simulated robot?

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