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Can we fix the robot base to the world about a given axis?

asked 2018-07-20 14:38:15 -0500

sapanostic gravatar image

<joint name="fixed" type="fixed"> <parent link="world"/> <child link="base_link"/> </joint>

fixes the base to the world. Can we fix the robot motion only about specific axis?

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I'm confused. Do you want to make a joint between your the world frame and your robot??

wentz gravatar imagewentz ( 2018-07-23 07:04:29 -0500 )edit

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answered 2018-07-20 15:04:28 -0500

chapulina gravatar image

Yup, just change the joint type to continuous and give it an <axis>. See the URDF documentation here.

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By fixing I mean, I want the base_link not to rotate about Z axis.

sapanostic gravatar imagesapanostic ( 2018-07-22 19:57:00 -0500 )edit

You'll have to see exactly which motion you want to allow and constrain all other axes with a combination of prismatic and revolute joints.There isn't a joint type which allows translation on all 3 axes and rotation on XY while constraining Z at the same time.

chapulina gravatar imagechapulina ( 2018-07-23 11:08:56 -0500 )edit
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Asked: 2018-07-20 14:38:15 -0500

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Last updated: Jul 20 '18