Gazebo Plugin: [Wrn] [ODEJoint.cc:830] GetForceTorque: forgot to set <provide_feedback>?

[josephcoombe]

Fyi, when running Gazebo in verbose mode with the new Gazebo Plugin in HEBI-ROS release v1.3, this warning gets printed to the terminal window:

...
[Wrn] [ODEJoint.cc:830] GetForceTorque: forgot to set <provide_feedback>?  
[Wrn] [ODEJoint.cc:830] GetForceTorque: forgot to set <provide_feedback>?  
[Wrn] [ODEJoint.cc:830] GetForceTorque: forgot to set <provide_feedback>?  
[Wrn] [ODEJoint.cc:830] GetForceTorque: forgot to set <provide_feedback>?  
[Wrn] [ODEJoint.cc:830] GetForceTorque: forgot to set <provide_feedback>?  
[Wrn] [ODEJoint.cc:830] GetForceTorque: forgot to set <provide_feedback>?  
[Wrn] [ODEJoint.cc:830] GetForceTorque: forgot to set <provide_feedback>?  
...

Not sure if it's an issue - just a heads up.

---

Gazebo settings / launch file:

<launch>

  <!-- Load the URDF model only the parameter server -->
  <param name="robot_description" textfile="$(find openmeta_generated_urdf_package)/urdf/robot.urdf"/>

  <!-- Gazebo -->
  <!-- these are the arguments you can pass this launch file, for example paused:=true -->
  <arg name="paused" default="true"/>
  <arg name="use_sim_time" default="true"/>
  <arg name="extra_gazebo_args" default=""/>
  <arg name="gui" default="true"/>
  <arg name="recording" default="false"/>
  <!-- Note that 'headless' is currently non-functional.  See gazebo_ros_pkgs issue #491 (-r arg does not disable
       rendering, but instead enables recording). The arg definition has been left here to prevent breaking downstream
       launch files, but it does nothing. -->
  <arg name="headless" default="false"/>
  <arg name="debug" default="true"/>
  <arg name="physics" default="ode"/>
  <arg name="verbose" default="true"/>  <!-- ENABLES VERBOSE MODE />
  <arg name="world_name" default="worlds/empty.world"/> <!-- Note: the world_name is with respect to GAZEBO_RESOURCE_PATH environmental variable -->
  <arg name="respawn_gazebo" default="false"/>
  <arg name="use_clock_frequency" default="false"/>
  <arg name="pub_clock_frequency" default="100"/>
  <arg name="required" default="false"/>

  <!-- set use_sim_time flag -->
  <group if="$(arg use_sim_time)">
    <param name="/use_sim_time" value="true" />
  </group>

  <!-- set command arguments -->
  <arg unless="$(arg paused)" name="command_arg1" value=""/>
  <arg     if="$(arg paused)" name="command_arg1" value="-u"/>
  <arg unless="$(arg recording)" name="command_arg2" value=""/>
  <arg     if="$(arg recording)" name="command_arg2" value="-r"/>
  <arg unless="$(arg verbose)" name="command_arg3" value=""/>
  <arg     if="$(arg verbose)" name="command_arg3" value="--verbose"/>
  <arg unless="$(arg debug)" name="script_type" value="gzserver"/>
  <arg     if="$(arg debug)" name="script_type" value="debug"/>

  <!-- start gazebo server-->
  <group if="$(arg use_clock_frequency)">
    <param name="gazebo/pub_clock_frequency" value="$(arg pub_clock_frequency)" />
  </group>
  <node name="gazebo" pkg="gazebo_ros" type="$(arg script_type)" respawn="$(arg respawn_gazebo)" output="screen"
  args="$(arg command_arg1) $(arg command_arg2) $(arg command_arg3) -e $(arg physics) $(arg extra_gazebo_args) $(arg world_name)" />

  <!-- start gazebo client -->
  <group if="$(arg gui)">
    <node name="gazebo_gui" pkg="gazebo_ros" type="gzclient" respawn="false" output="screen" required="$(arg required)"/>
  </group>

  <!-- Spawn a urdf in Gazebo, taking the description from the parameter server -->
  <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model"
        args="-param robot_description -urdf -model robot -x 0 -y 0 -z 2" />

</launch>

[iamtesch]

This should be fixed now.