Home | Tutorials | Wiki | Issues
Ask Your Question
0

Spawn SDF and control joints

asked 2017-06-03 04:54:21 -0500

hamzamerzic gravatar image

I have an SDF file of a robot, and would like to be able to control it's joints in the same way as shown in the tutorial here.

The reason why I need this is that I need gearbox joints in my model, like in the example here, but they cannot be parsed in URDF. On the other hand, I also need to able to control joint torques, which seems like it cannot work in SDF.

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted
0

answered 2017-06-05 03:11:40 -0500

hamzamerzic gravatar image

So while digging through the source code, I found that the robotParam is parsed for the transmissions. That is also mentioned in the tutorial above, but somehow I missed it. So the solution is to provide the URDF location to the robotParam of controller plugin and the transmissions will be parsed from the URDF.

edit flag offensive delete link more
Login/Signup to Answer

Question Tools

1 follower

Stats

Asked: 2017-06-03 04:54:21 -0500

Seen: 1,103 times

Last updated: Jun 05 '17