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<http://ros.org/wiki/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 <https://code.ros.org/trac/ros-pkg/newticket>.

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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