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Published 20 hours ago • verified publisher icon robotology

Error on using the plugin ApplyExternalWrench

Open iron76 opened this issue 9 years ago • 4 comments

I am trying to use the plugin for applying external wrenches but on a robot which differs from the iCub. I am getting the following error. I assume that I need to define at least one link named root_link. Is this the case? Is this really necessary?

[ERROR] ApplyWrench plugin: link named root_linknot found

iron76 avatar Nov 13 '15 16:11 iron76

https://github.com/robotology/gazebo-yarp-plugins/blob/2f68a8ddd580e270a4fd8d9fc70828fc0a2ebece/plugins/externalwrench/src/ApplyExternalWrench.cc#L147 apparently the problem is in this line. Getting a link of the robot as the default link seems to be a better solution indeed.

traversaro avatar Nov 13 '15 17:11 traversaro

I leave this open until the problem is fixed (@jeljaik and @traversaro).

iron76 avatar Nov 14 '15 07:11 iron76

Fixed in a07d8c99a64520c9117b915f517b88c932bef078.

jeljaik avatar Nov 16 '15 13:11 jeljaik

I need to reopen the issue since the fix is not working when using the iCub fixed. The error I am getting is:

ApplyWrench plugin: link named iCub::root_link not found

iron76 avatar Nov 18 '15 10:11 iron76