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How to change the center of an object? And why an object is called a link?

asked 2018-09-16 23:24:37 -0500

billconan gravatar image

Hi there,

new to gazebo, trying to create a joint between 2 basic objects, one cube and one cylinder. However, the center of an object is by default at the geometrical center, whereas I want the joint to be created at a different place. in particular, I want the joint be attached to one end of the cylinder. But I don't know how to do it. I thought I should change the center of the object first, but I failed to find the option to do it.

Also I can't understand why an object is called a link in Gazebo, is it because they are just the bonding box? and I'm supposed to put a more complex shape inside of it?

Thanks.

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answered 2018-09-17 11:01:48 -0500

chapulina gravatar image

Welcome :) This tutorial should be helpful to you:

Make a model

You can move the center of any entity (links, visuals, collisions...) using the <pose> element. I recommend you play a bit with the model editor as described here to get a good idea of how the pose values affect a model.

Have fun!

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Thank you, I have tried, but still no clue. pose can change an object's position. but it doesn't affect the center of an object.

billconan gravatar imagebillconan ( 2018-09-17 21:30:17 -0500 )edit

I seem to understand the problem now. after changing the center, the bounding box doesn't update immediately. I will have to reselect the object to see the change.

billconan gravatar imagebillconan ( 2018-09-17 21:43:02 -0500 )edit
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Asked: 2018-09-16 23:24:37 -0500

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Last updated: Sep 17 '18