Use robot_state_publisher with Gearbox joint

I made a very simple arm xacro model and I set a Gazebo element so that one of the joints can be Gearbox type. Now I am trying to write code in c++ so that the arm can move. Can I do that, using robotstatepublisher? And if so, how can I specify which axis of the joint, I want to use?

Asked by sofia.gr on 2017-02-22 05:35:14 UTC

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robot_state_publisher broadcasts the state (such as joint angles) of a system. It does not control the robot. You could try looking at ros_control. Or you could write a Gazebo plugin to control the joint.

Asked by nkoenig on 2017-02-22 10:53:28 UTC

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I'm sorry, I did't put my question correctly. According to this tutorial http://wiki.ros.org/urdf/Tutorials/Using%20urdf%20with%20robot_state_publisher I should be able to move a robot with the embedded code, customized. Can a use it with Gearbox joints?

Asked by sofia.gr on 2017-02-22 16:22:21 UTC