My robot has a disc with a radius of 1.25m in contact with the ground. Apparently this is not handled very well by the simulator and the robots drifts slowly with time. How to force base_link to stay at zero position? Is there a way to define as static a link only and not the whole robot?
I am using URDF and world frame doesn't seem to be usable there as parent frame.
Following chapulina's answer, my URDF joint looks like this:
<link name="world"/>
<joint name="joint_base_world" type="fixed">
<child link="base_link" />
<parent link="world" />
<origin xyz="0 0 0" />
</joint>
An explicit definition of the world frame is necessary when using URDF's. This joint stabilizes my robot and makes it fixed at zero position.
You can create a joint between base_link and the world, here's an example.
Assuming your disk is rotating about its Z axis, it would look something like this:
<joint name="joint_base_world" type="revolute">
<child>base_link</child>
<parent>world</parent>
<axis>
<xyz>0 0 1</xyz>
</axis>
</joint>
Asked: 2015-06-11 04:45:13 -0600
Seen: 275 times
Last updated: Jun 17 '15
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