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This robot has a joint named "wheel_right_joint" which is not in the gazebo model.

asked 2019-03-07 06:39:25 -0500

pmuthu2s gravatar image

I'm not sure what I'm doing wrong here, can anyone help?

<transmission name="tran_${number}">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="wheel_right_joint" type="revolute">
      <insert_block name="origin" />
      <limit effort="1000.0" lower="-1e+16" upper="1e+16" velocity="3.5"/>
      <axis xyz="-1 0 0" />
      <joint_properties damping="0" friction="0.0" />
      <parent link="base_link" />
      <child link="${name}_link" />
      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
    </joint>
  <actuator name="left_wheel_actuator">
  <mechanicalReduction>7</mechanicalReduction>
  <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
  </actuator>
 </transmission>
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answered 2019-03-15 04:12:20 -0500

kumpakri gravatar image

Joint tag does not belong inside the transmission tag.

You define your joints in model tags. Then you pass the transmission tags only the name of the joint.

<joint name="wheel_right_joint" type="revolute">
      <insert_block name="origin" />
      <limit effort="1000.0" lower="-1e+16" upper="1e+16" velocity="3.5"/>
      <axis xyz="-1 0 0" />
      <joint_properties damping="0" friction="0.0" />
      <parent link="base_link" />
      <child link="${name}_link" />
</joint>

<transmission name="tran_${number}">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="wheel_right_joint">
        <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
    </joint>
    <actuator name="left_wheel_actuator">
        <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
        <mechanicalReduction>7</mechanicalReduction>
    </actuator>
</transmission>
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Asked: 2019-03-07 06:39:25 -0500

Seen: 103 times

Last updated: Mar 15