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.
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.
^ 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: 2017-11-28 22:11:13 -0500
Seen: 769 times
Last updated: Nov 30 '17
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How about using a prismatic joint which moves to expand the arm?