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Tracked vehicles go backwards. #2008
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I was able to reproduce this. It looks like there's a sign convention mismatch between our fork of DART and upstream. @peci1 Do you recall this being the case? |
I can confirm it is inversed in Garden + Dart 6.13, i.e. @Bi0T1N Be aware that the 3D model is (imo) confusing: the top part is shifted to the back, which can easily be mistaken for the front: It is also inversed in the conveyor demo: |
I have no idea why this is happening. Could you compare the contents of gz-sim/include/gz/sim/physics/Events.hh Line 47 in a65c4c9
|
I'm using just Garden but with DART 6.10 (fork) vs DART 6.13.0 from upstream. Here's the print out from setting With DART 6.13
With DART 6.10 from our fork
They look very similar to me, so I'm inclined to think it's a difference in implementation between our fork of DART and upstream. |
I've tracked this down to the way the @peci1 Do you think we can simply negate the sign of the |
Good investigation. It seems negating the velocity vector in gz-physics would be the cleanest way. The only thing I fear is whether it will be sufficient to distinguish the fork and upstream based on the version number. I remember times where there were the same versions upstream and in the fork with different behaviors. |
I've updated my Fortress version (still compiled against same DART PPA) to the new release from 2023-05-31 and the buttons are inverted now. I'm pretty sure this wasn't the case before (working on different robots, not the ones from the Gazebo example) but can't easily verify it... |
I'm building from source. Is the fork available for me to include in my build? In the interest of accelerating a solution, may I suggest you define something like. |
Refer to #1662 (comment) |
Our fork is currently at 6.10, so we can easily distinguish between the two. If we ever update our fork to be >= 6.13, we'll need to change the
Where are you suggesting we put this |
This looks like it is fixed in the harmonic release when compiled from source with DART 6.13. Ta heaps! |
Yes, I closed #1662, but forgot to close this. |
Environment
Source 3bde4b5 (gz-sim7 branch on garden)
Description
The TrackedVehicle plugin does not take into account that TrackController's moving in the positive direction make the part of the track that touches ground go the opposite direction.
Steps to reproduce
gz sim -r tracked_vehicle_simple.sdf
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