[ros-users] Attach two urdf models in Gazebo
johnhsu at willowgarage.com
Tue Jul 20 22:28:26 UTC 2010
I've answered inline,
On Tue, Jul 20, 2010 at 9:34 AM, Yeon Grace Lee <yeongrace.lee at gmail.com>wrote:
> 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?
sorry I do not understand your question.
> And by the way, how do you make the joints move in gazebo? Pointer to a
> tutorial page would help me out very much.
There are at least two ways to do this, here are a couple:
1. apply efforts directly in gazebo (example:
2. using the mechanism control stack
http://www.ros.org/wiki/pr2_simulator/Tutorials/Pendulums). Take a look
at the launch scripts in
> 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,
>> 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 ?
>>> ros-users mailing list
>>> ros-users at code.ros.org
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