Can I change link properties (length and pose) at run time?
Hi,
I want to model a closed chain robot which needs to have length-variable links(length ratio over 1:10), but it's first time using gazebo,, so I don't know whether its possible or not. If you know how to deal with this length-variable links. Please help me.
Asked by byungheon on 2017-11-28 23:11:13 UTC
Answers
In the c++ api of gazebo, there is a SetScale method for the "Link" class. I suppose that it should do what you want. (the solution mentionned by @chapulina may be a good way to do it if the SetScale method doesn't work as you want)
And there is a SetRelativePose method to change the pose of the link.
Asked by Brosseau.F on 2017-11-30 09:06:50 UTC
Comments
^ These might be better if you want to change a large number (10+) of link properties! Adding lots of extra joints to your model is going to slow things down noticeably...
Asked by josephcoombe on 2017-11-30 18:57:14 UTC
Comments
How about using a prismatic joint which moves to expand the arm?
Asked by chapulina on 2017-11-29 11:27:52 UTC