shonigmann

Another potential source of discrepancy, beyond using open-loop commands, is that gazebo_ros2_control's position and velocity interfaces act as [perfect command followers](https://github.com/ros-simulation/gazebo_ros2_control/blob/956e7706338fd4fd1a2ef733ad54740d07e9a67a/gazebo_ros2_control/src/gazebo_system.cpp#L303-L310), with infinite accelerations and discontinuous behavior (e.g. if you...

fwiw, I can build everything using the default branches for each dependency (moveit2, ros2_control, gazebo_ros2_control, etc) rather than specific commits and things now behave as expected. In #54, I mention...

> * Why is not setting `fmax` for `hardware_interface/PositionJointInterface` during runtime causing this behavior? Should there be a difference between setting [`fmax`](https://github.com/osrf/gazebo/blob/2e42eb91e7638da54b36dbb8fdd4ae5e3a310d6d/gazebo/physics/ode/ODEJoint.cc#L562-L564) during runtime using a plugin and setting [`max_force`](https://github.com/osrf/gazebo/blob/2e42eb91e7638da54b36dbb8fdd4ae5e3a310d6d/gazebo/physics/ode/ODEJoint.cc#L131-L133)...

We dug back into this issue, because we needed a ray sensor in our sim, and those are not yet supported by `DART`. **Long story short, we found that `ODE`...

for my purposes, I ended up writing a plugin that wrote data to a .csv file using the [Gazebo Physics Link API](http://osrf-distributions.s3.amazonaws.com/gazebo/api/9.0.0/classgazebo_1_1physics_1_1Link.html) You can find it here, if it's helpful:...

With [#3011](https://osrf-migration.github.io/gazebo-gh-pages/#!/osrf/gazebo/pull-requests/3011), is there anything exposed to the end user to toggle light visualization (e.g. from the CLI, GUI or within URDF)? Thanks!