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Ros Gazebo create joint between Object and Robot Arm with Service

Hello All

I'm currently building a simulation for an omni directional platform with a robot arm on top, everything is working fine except for grasping. I read that physics based grasping is not that reliable and never got it to work either.

So I want to create a Ros_Node which checks if the Object is between the Fingers and than attaches the object with a fixed joint on the tcp of my robot arm. Any help would be greatly appreciated.

I am using Gazebo 5.0.1 and ROS Indigo.