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
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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