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ROS Controlled Linear Actuator (Prismatic Joint) Moving Dependent Joints

asked 2020-09-24 05:52:46 -0500

chenga gravatar image

Hello,

I'm fairly new to ROS and Gazebo, i'm currently trying to make a custom ROS robot and simulate it in Gazebo.

Is it possible to have a prismatic joint (linear actuator) move other dependent joints?

C:\fakepath\Slider_Crank_Mech.png

For example in the picture. I'd like to replace (a) with a linear actuator moving the other links/joints pivoting around points (b) and (c).

Any help would be appreciated!

Thank you!

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answered 2020-09-24 08:41:17 -0500

Roberto Z. gravatar image

SDF supports closed kinematics structures but URDF (ROS) not, so to answer your question:

Is it possible to have a prismatic joint (linear actuator) move other dependent joints?

Yes, it is possible but to integrate URDF's you will need a workaround as there is no direct solution.

Refer to these posts:
https://answers.gazebosim.org/questio...

https://answers.gazebosim.org/questio...

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Asked: 2020-09-24 05:52:46 -0500

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Last updated: Sep 24 '20