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Update documentation in the linear battery plugin example. #1500

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Merged
merged 3 commits into from
May 26, 2022
Merged

Update documentation in the linear battery plugin example. #1500

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cac0523
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adityapande-1995 May 18, 2022
8eae5ea
Merge branch 'main' into aditya/edit_documentation_battery_example
adityapande-1995 May 18, 2022
cce79a3
Added joint friction and updated the comment
adityapande-1995 May 25, 2022
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2 changes: 1 addition & 1 deletion examples/worlds/linear_battery_demo.sdf
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Expand Up @@ -28,7 +28,7 @@
Stop recharging the battery using a topic (optional if <recharge_by_topic> is true):
ign topic -t /model/vehicle_blue/battery/linear_battery/recharge/stop -m ignition.msgs.Boolean -p 'data:true'

The blue vehicle should stop when it runs out of battery.
After the battery runs out, no force is applied to the joints in the blue vehicle. It would keep on moving as there is no friction to stop it.
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Alternatively, we can joint friction to the vehicles which would bring them to a stop. I still think what you added here is helpful. We can say:

After the battery runs out, no force is applied to the joints in the blue vehicle. It eventually comes to a stop due to friction in its joints. Had there been no joint friction, the vehicle would have kept on moving as Gazebo currently does not support rolling friction.

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Added here : cce79a3

The green vehicle will not stop with recharge function.

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