This is a good question to ask on ROS Answers, but while we're here....
Check out the MIMIC command here: http://wiki.ros.org/urdf/XML/joint
joint_state_publisher should take it into account.

The PR2 has a similar gripper configuration, so you could try to look
there.

-David

On Mon, Mar 9, 2015 at 7:39 AM, s.achterop--- via ros-users <
ros-users@lists.ros.org> wrote:

>   Hello list,
>
> i am trying to create an urdf description for the gripper in our
> crustcrawler AX18A arms.
> My starting point for the urdf-file is the one i found for the
> crustcrawler-smart_arm in the ua-ros-pkg package, see
>      http://wiki.ros.org/ua-ros-pkg
> but that has a gripper with two actuators.
> The AX18A arm has a so called "2 in 1" gripper with one actuator, where
> the 2 fingers work in opposite direction, see
>      http://www.crustcrawler.com/products/AX-18F%20Smart%20Robotic%20Arm/
> The question is, how do i describe that one actuator control both the left
> and right fingers of the gripper,
> and make it show in rviz using the joint_state_publisher.
>
> I've been looking into the velo-gripper that looks similar, but i can't
> find the crucial parts.
> It probably has to do something with transmission?
>
> Hopefully someone can give me a pointer in the right direction.
>
>    Thanks in advance,
>        Sietse
>
>
>
>
>
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