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How to control different haptix robot arms in gazebo?

Haptix is a famous project of gazebo, which is to simulate a robot arm. Up to now, I can use environment variables to control different arms as I want. However, I can only control one arm in each time point because the environment variable is unique in each time point. If I want to control two or more arms in the same time, how to do that? I try to use the function hx_connection(...), but I can not find its implementation, so it is difficult for me to use it. Could anyone give me some more ideas? Thank you very much!