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Move several joints of an Object with ROS in Gazebo

asked 2017-10-24 07:53:44 -0500

Baumboon gravatar image

updated 2017-10-25 03:57:10 -0500

Hello guys,

i have created my own robot arm in Gazebo. Now i want to move several joints and not the whole object is there a way to do that ?

I use a SDF Model some Tut i found was for a URDF but i need one for SDF Models.

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answered 2017-10-24 08:42:11 -0500

updated 2017-10-24 09:18:52 -0500

Yes, you can write a motor/actuator plugin (check out this tutorial: http://gazebosim.org/tutorials?cat=gu...). Then you can add your plugin(s)* to your URDF to control the joints you want to move.

Depends on how your write your plugin. You can either write a plugin that controls a single joint - which you'd then declare multiple instances of in your URDF - or you can write a plugin that controls multiple joints.

Also, you may want to check out ros control: http://gazebosim.org/tutorials/?tut=r...

EDIT: Here's some boilerplate plugin code for a joint controller: namespace gazebo

  YourPlugin::YourPlugin() {}

  YourPlugin::~YourPlugin() {}

   /// \brief Load function gets called by Gazebo when the plugin is inserted in simulation 
   /// via URDF/SDF
   /// \param[in] _model A pointer to the model that this plugin is attached to.
   /// \param[in] _sdf A pointer to the plugin's SDF element.
   void YourPlugin::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
      // Store the model ptr for convenience.
      this->model_ = _model;

      // Get the name of your actuator/sensor joint from the URDF/SDF
      // Assuming:
      // <gazebo reference = "SENSORLINKNAME" />
      //     <actuatorJoint>NAMEOFJOINT</actuatorJoint>
      // </gazebo>
      std::string joint_name = "";
      if ( _sdf->HasElement("actuatorJoint") ) {
          joint_name = _sdf->Get<std::string>("actuatorJoint");
      } else {
          ROS_WARN_NAMED("your_plugin", "YourPlugin missing <actuatorJoint>!!!");

      // Store the actuatorjoint pointer.
      this->joint_ = this->model_->GetJoint(joint_name);


      // Listen to the update event. This event is broadcast every
      // simulation iteration.
      this->update_connection_ = event::Events::ConnectWorldUpdateBegin (
      boost::bind ( &YourPlugin::OnUpdate, this, _1 ) );


  /// \brief Function called at each simulation interation
  void YourPlugin::OnUpdate(const common::UpdateInfo & _info)
      common::Time current_time = this->model_->GetWorld()->GetSimTime();
      current_joint_angle = this->joint_->GetAngle(0).Radian() // Get joint angle

      // this->target_torque_ = CALL TO PID CONTROLLER HERE

      this->joint_->SetForce(0, this->target_torque_);

  // Tell Gazebo about this plugin, so that Gazebo can call Load on this plugin.
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The plugin seems to be more complex as the ros Control. I will try out both and look what fits better for me.

Baumboon gravatar imageBaumboon ( 2017-10-24 08:57:20 -0500 )edit

Sounds good. I've only used custom plugins so far, so let me know if you run into issues with those and I'll try to help!

josephcoombe gravatar imagejosephcoombe ( 2017-10-24 09:10:40 -0500 )edit

I looked for the Ros Controller but it is only described for URDF Models do u know if it will fit for sdf models too?

Baumboon gravatar imageBaumboon ( 2017-10-25 03:53:44 -0500 )edit
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Asked: 2017-10-24 07:53:44 -0500

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Last updated: Oct 25 '17