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the closed_loop_plugin can solve the issue that URDF not support closed kinematic loops.. please refer to :https://github.com/wojiaojiao/pegasus_gazebo_plugins or http://wiki.ros.org/Angel_jj/closed_loop_plugin#preview

the The closed_loop_plugin can solve serve as a workaround for the issue that of URDF not support supporting closed kinematic loops.. please loops. Please refer to :https://github.com/wojiaojiao/pegasus_gazebo_plugins https://github.com/wojiaojiao/pegasus_gazebo_plugins or http://wiki.ros.org/Angel_jj/closed_loop_plugin#previewor http://wiki.ros.org/Angel_jj/closed_loop_plugin