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Fix gazebo joint collision check bug #227

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Fix gazebo joint collision check bug #227

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90dde7f
fix(franka_gazebo): add gravity component to joint collision checking
rickstaa Feb 22, 2022
e0ffbf3
refactor: updates CHANGELOG.md
rickstaa Mar 18, 2022
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1 change: 1 addition & 0 deletions CHANGELOG.md
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,7 @@ Requires `libfranka` >= 0.8.0
* `franka_description`: `<xacro:franka_robot/>` macro now supports to customize the `parent` frame and its `xyz` + `rpy` offset
* `franka_hw`: Fix the bug where the previous controller is still running after switching the controller. ([#326](https://github.com/frankaemika/franka_ros/issues/326))
* `franka_gazebo`: Add `set_franka_model_configuration` service.
* `franka_gazebo`: Fix joint collision checking by adding the gravity component to the total torque calculation.

## 0.10.1 - 2022-09-15

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4 changes: 2 additions & 2 deletions franka_gazebo/src/joint.cpp
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Expand Up @@ -114,11 +114,11 @@ double Joint::getLinkMass() const {
}

bool Joint::isInCollision() const {
return std::abs(this->effort - this->command) > this->collision_threshold;
return std::abs(this->effort - this->command + this->gravity) > this->collision_threshold;
}

bool Joint::isInContact() const {
return std::abs(this->effort - this->command) > this->contact_threshold;
return std::abs(this->effort - this->command + this->gravity) > this->contact_threshold;
}

void Joint::setJointPosition(const double joint_position) {
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