All links teleport to origin if model has a revolute2 joint.

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Original report (archived issue) by Shane Loretz (Bitbucket: Shane Loretz, GitHub: sloretz).

The original report had attachments: revolute2_gz8.tar.gz

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If a model has a revolute2 joint, all links will teleport to the origin when the model is inserted into a world gazebo 8. This does not happen on gazebo 7.5. A model that reproduces the behavior is attached

Gazebo 8

Gazebo 7.5 - how it should work

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Original comment by packagewjx (Bitbucket: packagewjx).

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I encountered this problem today. Fix this problem, please~

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Original comment by packagewjx (Bitbucket: packagewjx).

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I successfully avoid this bug by adding two revolute joint instead of one. Instead of using two links, I use three links. Suppose that the first link is what you want to revolute in two directions. Add a joint between the second link and the first link, and set it revolute in one direction. Hide the second link if you must. Then add a joint between the second link and the third link, which is the other joint you used to add a revolute2 joint. The result is that the first link can revolute in two axis.
I made a simple example below.

Also I have to mention that revolute2 api have a lot of bugs, for gazebo v7.8.1. For example, I can't set the velocity, position, upper and lower limit of the second axis, and I can't get the position of it.
So, just use revolute joint.

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Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

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• changed title from "All links teleport to origin if model has a revolute joint." to "All links teleport to origin if model has a revolute2 joint."

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Original comment by Gabriel Walton (Bitbucket: TriWalt).

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it should be noted that this issue is also present in gazebo 9 as well.

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Original comment by Martin (Bitbucket: mhubii).

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it is still not fixed I guess

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Original comment by Addisu Z. Taddese (Bitbucket: azeey, GitHub: azeey).

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I have started working on a fix for this on the issue_2239 branch

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Original comment by Addisu Z. Taddese (Bitbucket: azeey, GitHub: azeey).

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• changed state from "new" to "resolved"

Merged in issue_2239 (pull request #3024)

Fix Issue 2239: All links teleport to origin if model has a revolute2 joint.

Approved-by: Steven Peters [email protected]
Approved-by: Shane Loretz [email protected]

→ <<cset 8abbfa6>>