{"action":"created","issue":{"url":"https://api.github.com/repos/ros-simulation/gazebo_ros_pkgs/issues/602","repository_url":"https://api.github.com/repos/ros-simulation/gazebo_ros_pkgs","labels_url":"https://api.github.com/repos/ros-simulation/gazebo_ros_pkgs/issues/602/labels{/name}","comments_url":"https://api.github.com/repos/ros-simulation/gazebo_ros_pkgs/issues/602/comments","events_url":"https://api.github.com/repos/ros-simulation/gazebo_ros_pkgs/issues/602/events","html_url":"https://github.com/ros-simulation/gazebo_ros_pkgs/issues/602","id":244645476,"number":602,"title":"XACRO： Acutator use in gazebo turn robot to a strange performance","user":{"login":"LarryShi","id":7135479,"avatar_url":"https://avatars1.githubusercontent.com/u/7135479?v=4","gravatar_id":"","url":"https://api.github.com/users/LarryShi","html_url":"https://github.com/LarryShi","followers_url":"https://api.github.com/users/LarryShi/followers","following_url":"https://api.github.com/users/LarryShi/following{/other_user}","gists_url":"https://api.github.com/users/LarryShi/gists{/gist_id}","starred_url":"https://api.github.com/users/LarryShi/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/LarryShi/subscriptions","organizations_url":"https://api.github.com/users/LarryShi/orgs","repos_url":"https://api.github.com/users/LarryShi/repos","events_url":"https://api.github.com/users/LarryShi/events{/privacy}","received_events_url":"https://api.github.com/users/LarryShi/received_events","type":"User","site_admin":false},"labels":[],"state":"closed","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":0,"created_at":"2017-07-21T11:45:45Z","updated_at":"2017-07-21T17:31:09Z","closed_at":"2017-07-21T17:31:09Z","body":"I am not sure whether I can state clearly. I will try my best. \r\n\r\nI used ROS & Gazebo to do my Robot Simulation \r\n\r\nI follow the Tutorial of URDF to the gazebo part. \r\n\r\nHowever, I found if I add the following part\r\n```\r\n  <transmission name=\"head_swivel_trans\">\r\n    <type>transmission_interface/SimpleTransmission</type>\r\n    <actuator name=\"$body_to_head_motor\">\r\n      <mechanicalReduction>100</mechanicalReduction>\r\n    </actuator>\r\n    <joint name=\"body_to_head\">\r\n      <hardwareInterface>PositionJointInterface</hardwareInterface>\r\n    </joint>\r\n  </transmission>\r\n```\r\nThen I found the robot in the gazebo seems won't be affected by gravity (seems like turn g from 9.8 to 0.5) .. very strange.. \r\n\r\nHowever, if I remove <actuator> part:\r\n```\r\n    <actuator name=\"$body_to_head_motor\">\r\n      <mechanicalReduction>100</mechanicalReduction>\r\n    </actuator>\r\n\r\n```\r\nThen the robot in the gazebo will be like in the real environment (which means g is 9.8)\r\n\r\nI try to search via google  but failed.\r\n\r\nDoes any one know why? \r\n\r\nThanks very much!"},"comment":{"url":"https://api.github.com/repos/ros-simulation/gazebo_ros_pkgs/issues/comments/317063369","html_url":"https://github.com/ros-simulation/gazebo_ros_pkgs/issues/602#issuecomment-317063369","issue_url":"https://api.github.com/repos/ros-simulation/gazebo_ros_pkgs/issues/602","id":317063369,"user":{"login":"j-rivero","id":2098802,"avatar_url":"https://avatars3.githubusercontent.com/u/2098802?v=4","gravatar_id":"","url":"https://api.github.com/users/j-rivero","html_url":"https://github.com/j-rivero","followers_url":"https://api.github.com/users/j-rivero/followers","following_url":"https://api.github.com/users/j-rivero/following{/other_user}","gists_url":"https://api.github.com/users/j-rivero/gists{/gist_id}","starred_url":"https://api.github.com/users/j-rivero/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/j-rivero/subscriptions","organizations_url":"https://api.github.com/users/j-rivero/orgs","repos_url":"https://api.github.com/users/j-rivero/repos","events_url":"https://api.github.com/users/j-rivero/events{/privacy}","received_events_url":"https://api.github.com/users/j-rivero/received_events","type":"User","site_admin":false},"created_at":"2017-07-21T17:31:09Z","updated_at":"2017-07-21T17:31:09Z","body":"Hello:\r\n\r\nFor user questions related to the integration of Gazebo and ROS or about how to use the code hosted in this repository, please use: http://ros.answers.org/. If the question is strictly about Gazebo, and not ROS, you can use: http://answers.gazebosim.org/\r\n\r\n\r\n\r\n"}}
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