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This robot has a joint named "wheel_right_joint" which is not in the gazebo model.

I'm not sure what I'm doing wrong here, can anyone help?

<transmission name="tran_${number}">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="wheel_right_joint" type="revolute">
      <insert_block name="origin" />
      <limit effort="1000.0" lower="-1e+16" upper="1e+16" velocity="3.5"/>
      <axis xyz="-1 0 0" />
      <joint_properties damping="0" friction="0.0" />
      <parent link="base_link" />
      <child link="${name}_link" />
      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
    </joint>
  <actuator name="left_wheel_actuator">
  <mechanicalReduction>7</mechanicalReduction>
  <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
  </actuator>
 </transmission>