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How to actuate the ball joint in Gazebo?

asked 2020-06-25 14:47:39 -0500

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I want to actuate the ball joint in Gazebo for my academic project. The ball joint is supported only in sdf format, and the gazebo_ros_control package which is used for actuating the joints is used with the URDF description of robot. So, how should proceed to solve this issue? PS: I cannot use set_link_state topic as I want to have arbitrary movement of the joint. Currently i am using a single sdf file describing the simulation world including robot model. If I include the plugin tag in the sdf file, the simulations does not run and I get following output in terminal.

SUMMARY

PARAMETERS * /rosdistro: kinetic * /rosversion: 1.12.13 * /use_sim_time: True

NODES / gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient)

auto-starting new master process[master]: started with pid [6312] ROS_MASTER_URI=http://localhost:11311

setting /run_id to ae7ae190-b71b-11ea-ac5f-7c67a2ef732e process[rosout-1]: started with pid [6325] started core service [/rosout] process[gazebo-2]: started with pid [6332] process[gazebo_gui-3]: started with pid [6344]

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answered 2020-06-27 16:20:40 -0500

Your question is not very clear, but I would warn you that actuating ball joints is not supported, I would guess because not all of the underlying physics engines have the same ball joints, so creating one interface for all of them would not make sense.

I would suggest instead three revolute joints, or a universal joint, or some combination.

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Okay, thank you!

KaranJagdale gravatar imageKaranJagdale ( 2020-06-30 03:23:24 -0500 )edit
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Asked: 2020-06-25 14:47:39 -0500

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Last updated: Jun 27