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Is it possible to control gazebo closed loop joints using gazebo_ros_control

Hi everyone, my question, is it possible to control gazebo joints using gazebo_ros_control? To be clear my robot model is in URDF, but I have a gazebo tag in it and inside that I have a prismatic linear actuator which creates a closed loop, which is allowed because I believe it converts URDF to SDF which supports closed loop links.

The model looks correct in Gazebo, but I cant control the joints and my controller manager displays this error:

Joint state with name: "cylinder_to_piston" was received but not found in URDF

Note: cylinder_to_piston is within the gazebo tag block inside the URDF , but none of the joints appear controllable through ros controller manager.

Thanks in advance.