rotation two Gears in RViz and Gazebo

asked 2017-01-06 06:31:01 -0600

zakizadeh gravatar image

updated 2017-01-06 10:51:03 -0600

i have two gears in my urdf . i want rotate two gears in same time . U31_1 and U32_1 are gears .

image description

my urdf :

 <link
    name="link_U31_1">
    <inertial>
      <origin
        xyz="-8.87891218881443E-11 7.94085594724159E-07 -0.00670118881241989"
        rpy="0 0 0" />
      <mass
        value="0.0791354618215319" />
      <inertia
        ixx="0"
        ixy="0"
        ixz="0"
        iyy="0"
        iyz="0"
        izz="0" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file:///home/zakizadeh/catkin_ws3/src/wrist/meshes/link_U31_1.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file:///home/zakizadeh/catkin_ws3/src/wrist/meshes/link_U31_1.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint_U31_1"
    type="revolute">
    <origin
      xyz="0.0375000001895901 0 0.0547500000000001"
      rpy="0 6.93889390390723E-16 0" />
    <parent
      link="link_U33_1" />
    <child
      link="link_U31_1" />
    <axis
      xyz="0 0 1" />
<limit effort="1.0" lower="-1.75" upper="1.75" velocity="3.14"/>
  </joint>
 <link
    name="link_U32_1">
    <inertial>
      <origin
        xyz="-1.49046497366356E-10 -0.000127794819901189 1.88843510273706E-10"
        rpy="0 0 0" />
      <mass
        value="0.019633991990533" />
      <inertia
        ixx="0"
        ixy="0"
        ixz="0"
        iyy="0"
        iyz="0"
        izz="0" />
    </inertial>
    <visual>
      <origin <link
    name="link_U32_1">
    <inertial>
      <origin
        xyz="-1.49046497366356E-10 -0.000127794819901189 1.88843510273706E-10"
        rpy="0 0 0" />
      <mass
        value="0.019633991990533" />
      <inertia
        ixx="0"
        ixy="0"
        ixz="0"
        iyy="0"
        iyz="0"
        izz="0" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file:///home/zakizadeh/catkin_ws3/src/wrist/meshes/link_U32_1.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file:///home/zakizadeh/catkin_ws3/src/wrist/meshes/link_U32_1.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint_U32_1"
    type="revolute">
    <origin
      xyz="-0.0075000004012061 0 0.0422500000000005"
      rpy="1.5707963267949 0 1.5707963267949" />
    <parent
      link="link_U33_1" />
    <child
      link="link_U32_1" />
    <axis
      xyz="0 1 0" />
<limit effort="1.0" lower="-1.75" upper="1.75" velocity="3.14"/>
  </joint>
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file:///home/zakizadeh/catkin_ws3/src/wrist/meshes/link_U32_1.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file:///home/zakizadeh/catkin_ws3/src/wrist/meshes/link_U32_1.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint_U32_1"
    type="revolute">
    <origin
      xyz="-0.0075000004012061 0 0.0422500000000005"
      rpy="1.5707963267949 0 1.5707963267949" />
    <parent
      link="link_U33_1" />
    <child
      link="link_U32_1" />
    <axis
      xyz="0 1 0" />
<limit effort="1.0" lower="-1.75" upper="1.75" velocity="3.14"/>
  </joint>
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Comments

How are you rotating the gears? Are the teeth meshed properly? Do you see contacts points between the gears? Your inertia values are incorrect, and should be fixed. Try reading through the gazebo tutorials to understand how to create simulation models.

nkoenig gravatar imagenkoenig ( 2017-01-06 08:30:12 -0600 )edit

i updated image in my question.i edited my urdf to create contacts points between the gears . can you wrirte A simple example for rotat two gears ??

zakizadeh gravatar imagezakizadeh ( 2017-01-06 10:05:24 -0600 )edit

I can offer guidance, but I don't have the bandwidth to write code. There are numerous tutorials on both ROS and Gazebo. There are also many tools to help debug simulation (visualize inertia, collisions, contact points, etc), along with plotting tools, and logging. Please exhaust all of these resources. Include this in question all of the debugging and testing methods that you have tried. For example: your URDF has syntax errors that should be apparent when reading console output.

nkoenig gravatar imagenkoenig ( 2017-01-06 11:19:36 -0600 )edit

i send all robot files by email for you . i tried for 2 months ! but i cant solve problem . please help me.

zakizadeh gravatar imagezakizadeh ( 2017-01-06 12:25:08 -0600 )edit

hi . I Tried so hard but I still have problems . I'm disappointed . can you help me please ! i need your help

zakizadeh gravatar imagezakizadeh ( 2017-01-16 08:08:12 -0600 )edit