For PR2, we write individual components as xacro macros, and build various robot configurations into a single urdf.  For example see attached arm urdf, utilizing various component urdf's from pr2_description.

Right now, there is no dynamic joint(constraint) creation between separate models in simulation.  If this is something that is useful, please create a ticket.

hope this helps,
John


On Mon, Jul 12, 2010 at 6:42 AM, Nicolas Goossaert <nicolas@shadowrobot.com> wrote:
Hi all,

last week I sent an email asking how to link 2 urdf models in Rviz, and
the answer was a fixed transorm.

Now I am trying to do approximately the same, but with Gazebo. Is there
a similar trick to attach my hand at the end of my arm ?

Cheers,

Nicolas
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