Which packages do you think might support it? Currently, joint_state_publisher has functionality that works like the mimic tag might, but through additional parameters, not the actual tag. If it was "officially" added to the URDF schema, I could easily add in support for it. On Fri, Jan 7, 2011 at 11:27 PM, John Hsu wrote: > Hi Mrinal, > The mimic tag is actually not officially supported. It was used by > openrave only. If it's a really useful feature, please file a feature > request ticket, and we can work on pushing it through to being supported > officially. > Thanks, > John > > > On Fri, Jan 7, 2011 at 3:55 AM, Mrinal Kalakrishnan wrote: > >> Hi, >> >> I could not find any documentation about the joint tag in >> urdf. I use the tag in my own model and I can read the values using >> the urdf parser, but I just want to confirm the semantics of "offset" >> and "multiplier" - can I assume that the mimicked value = >> angle*multiplier + offset? >> >> Also, I'm curious as to which packages actually support the use of >> mimic joints. For example, the cturtle robot_state_publisher currently >> requires all joint angle values in its input, i.e., mimic joint angle >> values are not inferred. Is this something that will be supported in >> future, or is it just a temporary solution that will be deprecated >> with urdf 2.0? >> >> - Mrinal >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users >> > > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > >