[ros-users] Attach two urdf models in Gazebo

[Yeon Grace Lee]

Hi I have a follow up question regarding spawning urdf model in gazebo.
Currently, I have all the links and joints in one urdf file (I am using an
xml format, not xacro, though I intend to convert from one to the other in
the future). What I am wondering is if my model were to move two or more
joints simultaneously, does this necessitate having separate urdf models for
each part of the body?

And by the way, how do you make the joints move in gazebo? Pointer to a
tutorial page would help me out very much.

Thanks!

-Grace

On Mon, Jul 12, 2010 at 11:31 AM, John Hsu <johnhsu at willowgarage.com> wrote:

> 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 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
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>
>
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