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Revolute joint in Gazebo with gazebo_ros_control not working

asked 2020-04-16 06:45:32 -0500

ejalaa12 gravatar image

updated 2020-04-16 07:48:44 -0500

It seems like we can't control revolute joints with gazebo_ros_control plugin.

The easiest way to reproduce it is to clone the gazebo_ros_demos repo and edit the rrbot.xacro by replacing the continuous joint with a revolute joint.

Then the control doesn't work anymore.

here is the part of the urdf I changed (l.55-63 of rrbot.xacro):

  <joint name="joint1" type="revolute">
    <parent link="link1"/>
    <child link="link2"/>
    <origin xyz="0 ${width} ${height1 - axel_offset}" rpy="0 0 0"/>
    <axis xyz="0 1 0"/>

    <limit effort="100" velocity="30" upper="-3.14" lower="3.14"/>
    <dynamics damping="0.7"/>
  </joint>

Has anybody succeeded in controlling revolute joints in gazebo ?

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Comments

Have you specified the limits?

kumpakri gravatar imagekumpakri ( 2020-04-16 07:31:10 -0500 )edit

@kumpakri yes I did, I just edited my question with the part I changed

ejalaa12 gravatar imageejalaa12 ( 2020-04-16 07:47:22 -0500 )edit

I think I found my mistakes, I swapped the upper and lower limit values ....

ejalaa12 gravatar imageejalaa12 ( 2020-04-16 08:39:44 -0500 )edit

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answered 2020-04-16 08:40:45 -0500

ejalaa12 gravatar image

I found the solution, the lower and upper limit were inverted

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Asked: 2020-04-16 06:45:32 -0500

Seen: 153 times

Last updated: Apr 16 '20