Gazebo models for Servos.

asked 2020-02-23 05:22:03 -0500

altineller gravatar image


I wold like to model something in gazebo that uses servos, specifically Dynamixel XL-320 servos.

If I wanted to create a gazebo model, of a structure, such as a quadruped leg, built with servos, where should I start from?

Any ideas/help/recommendations greatly appreciated,


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Are you using ROS to control the robot? Do you want to know how to built model that moves as if it had servomotors?

kumpakri gravatar imagekumpakri ( 2020-02-27 04:13:20 -0500 )edit

yes, this is what I would like, exactly. I am also wondering if there are premade models for known servos.

altineller gravatar imagealtineller ( 2020-02-28 06:13:38 -0500 )edit

Not so much models for servos, but you can load a joint controller that moves your joint into a specified position. The joint is not visible, the controller is not visible. The two links you connect by this joint just moves with respect to each other as if there was a servomotor. You can create mesh that looks like your motor but that does not have any function other than the visuals.

kumpakri gravatar imagekumpakri ( 2020-02-28 09:10:10 -0500 )edit