Adding joint in runtime through plugin -- physics incorrect

[osrf-migration]

Original report (archived issue) by Marina (Bitbucket: Marina).

---

This is my first issue report, please tell me if something is missing. I’m using ROS Kinetic and Gazebo 7.16.

I’m trying to add a joint between 2 robots during runtime (spawning the two robots separately and adding a new joint through a world plugin).

After the joint is created, the physics become incorrect. I know that it is incorrect because my world is a zero gravity, and upon application of force/torque the robots don’t even move or stop shortly as if there was drag .

This bug can be visualized using the example in https://github.com/pal-robotics/gazebo_ros_link_attacher, and setting the gravity in the world file to zero (0 0 0). As it is a zero gravity environment, when adding manually force to the gazebo models one would expect for it not to stop.

[osrf-migration]

Original comment by Marina (Bitbucket: Marina).

---

• Edited issue description