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Can I change link properties (length and pose) at run time?

asked 2017-11-28 22:11:13 -0500

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Hi,

I want to model a closed chain robot which needs to have length-variable links(length ratio over 1:10), but it's first time using gazebo,, so I don't know whether its possible or not. If you know how to deal with this length-variable links. Please help me.

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How about using a prismatic joint which moves to expand the arm?

chapulina gravatar imagechapulina ( 2017-11-29 10:27:52 -0500 )edit

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answered 2017-11-30 08:06:50 -0500

Brosseau.F gravatar image

updated 2017-11-30 08:36:30 -0500

In the c++ api of gazebo, there is a SetScale method for the "Link" class. I suppose that it should do what you want. (the solution mentionned by @chapulina may be a good way to do it if the SetScale method doesn't work as you want)

And there is a SetRelativePose method to change the pose of the link.

http://osrf-distributions.s3.amazonaws.com/gazebo/api/dev/classgazebo_1_1physics_1_1Link.html#a275d552d716464ca0e98ef898f74aaf9

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^ These might be better if you want to change a large number (10+) of link properties! Adding lots of extra joints to your model is going to slow things down noticeably...

josephcoombe gravatar imagejosephcoombe ( 2017-11-30 17:57:14 -0500 )edit
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Asked: 2017-11-28 22:11:13 -0500

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Last updated: Nov 30 '17