Gazebo | Ignition | Community

Attention: answers.gazebosim.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Spawn SDF and control joints

asked 2017-06-03 04:54:21 -0600

hamzamerzic
40 ●14 ●19 ●21

I have an SDF file of a robot, and would like to be able to control it's joints in the same way as shown in the tutorial here.

The reason why I need this is that I need gearbox joints in my model, like in the example here, but they cannot be parsed in URDF. On the other hand, I also need to able to control joint torques, which seems like it cannot work in SDF.

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2017-06-05 03:11:40 -0600

hamzamerzic
40 ●14 ●19 ●21

So while digging through the source code, I found that the robotParam is parsed for the transmissions. That is also mentioned in the tutorial above, but somehow I missed it. So the solution is to provide the URDF location to the robotParam of controller plugin and the transmissions will be parsed from the URDF.

edit flag offensive delete link

add a comment

Question Tools

1 follower

Stats

Asked: 2017-06-03 04:54:21 -0600

Seen: 2,061 times

Last updated: Jun 05 '17

Spawn SDF and control joints edit

1 Answer

Question Tools

Stats

Related questions

Spawn SDF and control joints