[ros-users] Attach two urdf models in Gazebo

John Hsu johnhsu at willowgarage.com
Mon Jul 12 18:31:00 UTC 2010

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

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,

On Mon, Jul 12, 2010 at 6:42 AM, Nicolas Goossaert
<nicolas at 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
> _______________________________________________
> ros-users mailing list
> ros-users at code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users
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