gz-sim
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Publish Joint forces
🦟 Bug fix
Fixes #883
Summary
These changes should allow to obtain information regarding the forces applied to the joints.
Test it
- Pull gz-physics PR: https://github.com/gazebosim/gz-physics/pull/628
- Launch
gz sim --physics-engine gz-physics-bullet-featherstone-plugin lift_drag.sdf
simulation. - Send a command to the model (
gz topic -t "/model/lift_drag_demo_model/joint/rod_1_joint/cmd_force" -m gz.msgs.Double -p "data: 0.8"
). - Echo the topic:
gz topic -e -t /world/lift_drag/model/lift_drag_demo_model/joint_state
Checklist
- [x] Signed all commits for DCO
- [ ] Added tests
- [ ] Updated documentation (as needed)
- [ ] Updated migration guide (as needed)
- [ ] Consider updating Python bindings (if the library has them)
- [ ]
codecheck
passed (See contributing) - [ ] All tests passed (See test coverage)
- [ ] While waiting for a review on your PR, please help review another open pull request to support the maintainers
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