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Use robot_state_publisher with Gearbox joint

asked 2017-02-22 04:35:14 -0500

sofia.gr gravatar image

I made a very simple arm xacro model and I set a Gazebo element so that one of the joints can be Gearbox type. Now I am trying to write code in c++ so that the arm can move. Can I do that, using robot_state_publisher? And if so, how can I specify which axis of the joint, I want to use?

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answered 2017-02-22 09:53:28 -0500

nkoenig gravatar image

robot_state_publisher broadcasts the state (such as joint angles) of a system. It does not control the robot. You could try looking at ros_control. Or you could write a Gazebo plugin to control the joint.

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I'm sorry, I did't put my question correctly. According to this tutorial http://wiki.ros.org/urdf/Tutorials/Using%20urdf%20with%20robot_state_publisher I should be able to move a robot with the embedded code, customized. Can a use it with Gearbox joints?

sofia.gr gravatar imagesofia.gr ( 2017-02-22 15:22:21 -0500 )edit
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Asked: 2017-02-22 04:35:14 -0500

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Last updated: Feb 22