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How to move a joint to a angle in certain time?

asked 2018-04-25 01:41:05 -0600

xianxjm gravatar image

I want to set a joint to a certain angle in certain time. Is there an interface to do this?  or, is there another way to do it?

Thanks in advance

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To clarify, you're trying to make a joint change its angle during the course of the given time? So for example your joint is in the starting position, you input 1.5707 as an angle and 5 seconds as the time. The joint would then smoothly move during the 5 seconds ending up in the 1.5707 position. Is this what you're trying to do?

Raskkii gravatar imageRaskkii ( 2018-04-27 02:45:06 -0600 )edit

Yes,do your have any idea? Thanks a lot~

xianxjm gravatar imagexianxjm ( 2018-06-07 22:13:24 -0600 )edit

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answered 2018-06-18 01:32:20 -0600

Raskkii gravatar image

The easiest way to do this would be to write your own custom plugin.

Have a look at this link to get started: http://gazebosim.org/tutorials?tut=pl...

You could write a subscriber to get your desired angle and time and then have the angle of your joint increase at every update loop. You can actually set the angle of the joint with the function joint->SetAngle.

Take a look at ROS subscribers tutorial aswell if you're not familiar with the concept.

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Asked: 2018-04-25 01:41:05 -0600

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Last updated: Jun 18 '18