Gazebo | Ignition | Community
Ask Your Question

Create joint dynamically with ROS

asked 2015-06-24 10:47:22 -0500

mehdi gravatar image

updated 2015-06-24 10:50:09 -0500

I have a contact sensor on my vacuum gripper. Once the gripper touches whatever I want to grip, I tried applying a force on the bottom of the object so that it gets pushed against the gripper. This method is not very stable and I would like to consider spawning a joint dynamically and deleting it when I am done moving the object. I am using ROS to command everything in Gazebo. What I was trying is to create plugins that create and delete a joint (Gripper-Object joint has always the same name in my case as I am always moving the same object).

This is what I tried (but doesn't compile)

I changed the content of the class to create a fixed joint as shown in an answer on this forum. How should this be done?

I have two models in my world, "mypackage" containing the link "simplebox" and another model containing the link "gripper_rot" and I want to create a joint between those two joints.

#include <sdf/sdf.hh>
#include "gazebo/gazebo.hh"
#include "gazebo/common/Plugin.hh"
#include "gazebo/msgs/msgs.hh"
#include "gazebo/physics/physics.hh"
#include "gazebo/transport/transport.hh"

/// \example examples/plugins/
/// This example creates a WorldPlugin, initializes the Transport system by
/// creating a new Node, and publishes messages to alter gravity.
namespace gazebo
  class WorldEdit : public WorldPlugin
    public: void Load(physics::WorldPtr _parent, sdf::ElementPtr _sdf)
      physics::JointPtr joint;

      joint = this->world->GetPhysicsEngine()->CreateJoint("fixed", "my_package");

      joint->Load("simple_box", "gripper_rot", math::Pose());

      joint->Attach("simple_box", "gripper_rot");

      joint->SetAxis(0, axis_ex);

      joint->SetHighStop(0, high_stop_ex);
      joint->SetParam("cfm", 0, cfm_ex);

  // Register this plugin with the simulator
edit retag flag offensive close merge delete


Hi there, I am also looking into the solution of the question. Kindly let me know if you were able to solve it somehow?

Abdullah gravatar imageAbdullah ( 2016-10-31 23:54:16 -0500 )edit

I guess you don't need it anymore but I posted an answer to this question

mehdi gravatar imagemehdi ( 2019-01-29 04:33:27 -0500 )edit

1 Answer

Sort by ยป oldest newest most voted

answered 2019-01-29 04:34:20 -0500

mehdi gravatar image

I stumbled upon a plugin that works. Had to to some changes to make it compatible with the nes API of Gazebo, it can be found here

edit flag offensive delete link more

Question Tools

1 follower


Asked: 2015-06-24 10:47:22 -0500

Seen: 3,697 times

Last updated: Jan 29 '19