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2016-08-24 01:39:49 -0500 answered a question How can I control Joint with multi-axis

Maybe I just found a solution but I didn't test it with revolute2 joint yet.

The solution is to use message named joint_cmd.

As you can see below, I could specify the axis of joint with set_axis() method in msgs::JointCmd class.

           msgs::JointCmd stMsgJointCmd;
    msgs::PID stMsgPID;

    std::string strWheelName = "robot::lwheel_joint";
    stMsgJointCmd.set_axis(0);
    stMsgJointCmd.set_allocated_name(&strWheelName);
    stMsgPID.set_target(100.0);
    stMsgJointCmd.set_allocated_velocity(&stMsgPID);
    m_poJointCmdPub->Publish(stMsgJointCmd);
    stMsgJointCmd.release_name();
    stMsgJointCmd.release_velocity();

I think PID controller for each axes could be specified too, but couldn't confirm it.

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2016-08-23 00:21:44 -0500 asked a question How can I control Joint with multi-axis

Hello, I'm creating a simple robot model like pan-tilt camera.

To simulate it, I added 3 links and 2 joints ( revolute ) because I couldn't specify the axis with SetPositionPID() and SetPositionTarget() functions.

But what I really want is to add only 2 links and 1 joint using "revolute2" and control each axes with different PID controllers. Only function what I found was SetJointPosition(), SetJointVelocity() but I couldn't give separated PID controllers to each axes and I'm not sure what kind of controller is controlling the joint in those functions.

How do you control the joint with multi-axes?

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2016-08-17 18:51:45 -0500 commented answer Is there GUI tool for creating SDF ?

Thanks for your comment! Model editor + VI was my final choice. I just expected that there should be at least SDF text editor. Maybe I'd better to find some XML editor.

2016-08-17 11:38:06 -0500 asked a question Is there GUI tool for creating SDF ?

Hello, I've installed Gazebo 7 today and been trying some tutorials in this website.

In every tutorial, however, SDF defines the robot was created by text editor, even there was model editor in gazebo!

So I've used the model editor in gazebo instead of text editor, and it worked for a while.

But when I had to add sensor like "ray", I couldn't find any menu or button for adding it in Gazebo's model editor.

My question is..

  1. Can I add sensor with GUI? without any text editor?
  2. Or Is there any other tool for it?

How do you do that????