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
<johnhsu@willowgarage.com> 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
<mail@mrinal.net> wrote:
Hi,
I could not find any documentation about the joint <mimic> 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
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